CN110461009A - The underwater sensor network Routing Protocol evaded based on dynamic network cavity - Google Patents
The underwater sensor network Routing Protocol evaded based on dynamic network cavity Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
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- 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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Abstract
A kind of underwater sensor network Routing Protocol evaded based on dynamic network cavity, comprising: the Move Mode of underwater each node is modeled, node is enable regularly to move on a spherical surface；The virtual flow-line path between node is established from top to bottom, and the path bypasses network hole region；Data packet is forwarded by established virtual flow-line path；The change in topology according to caused by the movement of node dynamically carries out path re-establishing.The underwater sensor network Routing Protocol evaded based on dynamic network cavity of the invention can be realized higher network coverage, higher data packet delivery fraction, shorter propagation delay time and lower energy consumption.It can efficiently handle network cavity problem, embody robustness.
Description
Technical field
The present invention relates to a kind of Routing Protocols.More particularly to a kind of underwater sensor evaded based on dynamic network cavity
Network routing protocol.
Background technique
Underwater sensor network includes the sensor node being largely arranged in specific underwater environment.These nodes pass through rope
Rope is anchored at the bottom, and node is floated in a certain range with ocean current.These sensor nodes can be monitored, be adopted
Collect the various environmental parameters around its overlay area.And the depth of its position can be obtained by pressure sensor
Degree.All sensor nodes organize themselves into a network, and pass through the network for the data transmission monitored to positioned at water
The base station in face.Nowadays, as a kind of powerful technology just in the monitoring of ocean, measurement monitors and controls underwater sensor network
On play an important role.The technology is widely used in surveying and drawing, environmental protection or even military field, just by researchers
More and more favors.
Underwater sensor network originates from land sensor network, but the characteristics of possess oneself: 1) three-dimensional topological ring
Border, and land sensor network is two-dimensional.2) limited energy reserve, and land sensor node is due on ground,
It is convenient for supplement energy.3) topological dynamic change, and the position of land sensor network interior joint is relatively fixed.4) tighter
Severe transmission environment.Since electromagnetic wave can not be propagated under water again, can only be replaced with sound wave.The underwater biography of sound
It broadcasts speed and there was only 1500m/s, well below the aerial spread speed (3 × 10 of radio wave8M/s), so underwater acoustic channel
Have the characteristics that high latency and high bit-error.
Research has shown that opportunistic routing protocol can be good at being suitable for underwater sensor network.This based on greed
In the agreement of strategy, if a node is in routing cavity without suitable candidate neighbor nodes collection.Some routings
Agreement absolutely not goes to consider this problem, has plenty of the movement for allowing node in three-dimensional, has plenty of and allows node only perpendicular
Histogram to movement.But node is allowed to carry out initiatively carrying out the movement on geographical location, still consume additional energy.And
And new network cavity may occur due to the movement of node, this will lead to the node and continually carries out actively movement.
Some agreements, such as DBR (Depth-Based Routing Protocol) agreement and VBF (Vector-Based
Forwarding Protocol) absolutely not consider to route empty problem.In order to handle the empty problem that routes, researcher and
Many algorithms have been proposed in scholar.Artificial fish-swarm algorithm (Artificial fish swarm algorithm) is to allow node
It is moved freely on three-dimensional to promote the network coverage.Node is compared to Artificial Fish by algorithm, is looked for food, and is knocked into the back and clustering three
Kind behavior.However free-moving nodal pricing is expensive in water, large scale deployment does not gear to actual circumstances.
Topology control method (Movement Assisted-Topology Control) trial based on mobile auxiliary allows
Isolated node only moves in the vertical direction to carry out topological reparation.There are two types of the methods of topology control altogether.Specifically, collection
The Topology Control Algorithm of Chinese style obtains the coordinate of sensor node by the auxiliary of AUV node, by monitoring center centralized control
The movement of isolated node.Distributed topology control method needs sensor node using BEACON grouping whether to determine oneself
For isolated node, and determine the movement oneself whether needed to carry out on vertical direction in a distributed manner to repair network.But it is this
Method still needs the lifting that node is realized using air pump, this can consume additional energy, and may be due to the shifting of node
It moves and generates new network cavity.And then node is caused frequently to be moved.
VBVA (Vector-Based Void Avoidance) agreement is improved on the basis of VBF agreement.Such as
Fruit forward node is not in hole region, and the forwarding strategy of VBVA is identical as VBF.When routing vector enters the cavity of indent
Back-pressure mechanism can be taken to find next-hop node in region, then by vector-shift come transfer vector
Data packet is reached aggregation node around hole region.This method does not carry out the adjustment in sensor node geographical location.
VAPR (Void-Aware Pressure Routing) agreement is again based on the strategy that cavity is evaded.Entire
In routing procedure, aggregation node and sensor node moment are in the state for broadcasting oneself, Lai Jianli virtual route.These virtual roads
Diameter has bypassed hole region.The shortcomings that VAPR agreement be during whole service, between node all by broadcast BEACON come
Rerouting is carried out, there is no the capacity factors for considering node.This will lead to the path re-establishing and energy expense of redundancy, even
The generation of network storm.
The characteristics of underwater sensor network, is the position dynamic change of sensor node, and then leads to the topology of whole network
Structure persistently changes.Since node is moved with ocean current, it may result in and occur hole region in network.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind can be realized higher network coverage, higher number
According to packet delivery fraction, the underwater sensor net of shorter propagation delay time and lower energy consumption evaded based on dynamic network cavity
Network Routing Protocol.
The technical scheme adopted by the invention is that: a kind of underwater sensor network routing evaded based on dynamic network cavity
Agreement includes the following steps:
1) Move Mode of underwater each node is modeled, node is enable regularly to move on a spherical surface
It is dynamic；
2) the virtual flow-line path between node is established from top to bottom, and the path bypasses network hole region；
3) data packet is forwarded by established virtual flow-line path；
4) change in topology according to caused by the movement of node dynamically carries out path re-establishing.
Modeling described in step 1) includes:
If the initial position co-ordinates of underwater node N are (x0,y0,z0), the length of rope is r, anchor point N0Coordinate be
(x0,y0, 0), in the mobility model of spherical coordinate system interior joint are as follows:
Wherein r=z0, θ=θ (t), λ=λ (t), the runing time of t expression model, θ0Indicate the maximum that node can be swung
Angle, θ indicate that the swing angle of node, λ indicate the moving direction of node.
During node motion, after node reaches target position, then opposing stationary setting time starts to carry out again
It moves next time.
Virtual flow-line path between node described in step 2) is each convergence section in the whole network course of work
Point periodically sends control data bag, broadcasts the routing direction of oneself, the virtual route hop count that has built up and the last time
The sequence number of the control data bag received, each underwater node is after receiving control data bag, if the underwater node is most
The sequence number of the control data bag closely once received is less than the sequence number for the control data bag being currently received, or the last receipts
To control data bag sequence number control data identical as the sequence number for the control data bag being currently received, but being currently received
It wraps the virtual route hop count having built up recorded and is less than the virtual route hop count having built up that the node is recorded, then
Node recorded in control data bag is set by the routing direction of next-hop node desired by the underwater node
The routing direction of the underwater node is set the direction that control data bag transmits by routing direction, and oneself is recorded
The virtual route hop count having built up adds one, and then the underwater node is also by the state encapsulation of oneself into new control data
Packet, then broadcasted.
Step 3) includes:
If node S is current forward node, n1And n2It is two both candidate nodes, it is assumed that the of the pri function of node S
One is a linear function about depth difference d, is indicated are as follows:
F (d)=α d+ β
In formula, α and β indicate the parameter solved,
Assuming that both candidate nodes n1It goes to forward, and both candidate nodes n2It does not go to forward, then both candidate nodes n1Delay time than wait
Select node n2It is short, so having:
f(d1)<f(d2)
In formula, d1Indicate both candidate nodes n1Depth, d2Indicate both candidate nodes n2Depth；Both candidate nodes n2Not only to receive
The data packet that node S is transmitted will also receive both candidate nodes n1Data packet inhibit oneself forwarding, if from node S to candidate
Node n1Propagation delay time be t1, from node S to both candidate nodes n2Propagation delay time be t2, from both candidate nodes n1To both candidate nodes n2
Propagation delay time be t12, then have:
t1+f(d1)+t12≤t2+f(d2)
By the f (d in f (d)=α d+ β substitution formula1) and f (d2)
Because depth difference is bigger, the transmission delay between node is smaller, so α is negative value, then:
In view of both candidate nodes n1And n2Worst position, enableWherein between two nodes of τ=R/v expression
Maximum transmitted time delay indicates d using δ1-d2, then:
It willF (d)=α d+ β is substituted into, and sets the transmission delay between node S and the maximum both candidate nodes of depth difference
It is 0 second, then
By what is found outWithSubstitute into f (d)=α d+ β, the as pri function of node:
Wherein R represents the transmission radius of node；τ=R/v represents the maximum propagation time delay of a jump；δ is smaller, node
Delay time is longer, this will lead to end-to-end time delay increase, but limit more redundant paths, saves energy；
The Section 2 of pri function considers the dump energy accounting of forward node, enables node S because produced by capacity factor
Must postpone be
Wherein residual_energy indicates the current dump energy of node, when inital_energy indicates that node is initial
Energy；
In conclusion pri function delay (node) when selecting next-hop for
Delay (node)=f (d)+g (residual_energy)
By the function, the redundant transmission of data packet had not only been limited, but also has balanced the dump energy of node, has enhanced node
Transmittability, extend the life cycle of network.
Step 4) includes:
Firstly, oneself is considered as same cluster with neighbor node and two hop nodes by each node, i.e., rebuild in dynamic routing
In the process, the routing direction of shift in position node is updated using the routing direction of neighbor node and two hop nodes；Node occurs
Peripherad node sends control data bag at once when mobile, the number of in store shift in position node in control data bag, should
The maximum hop count of control data bag is 2, this is to only have the neighbor node of shift in position node and two hop nodes that can receive
The control data bag；Surroundings nodes, can be to the shift in position after receiving the control data bag that shift in position node is sent
One control data bag of node reverts back encases the depth of surroundings nodes, routing direction, in this described control data bag
The sequence number of the virtual route hop count and the last control data bag received that are set up；Shift in position node is receiving reply
Control data bag after, will be updated the state of oneself, and set 2 for the maximum hop count of the control data bag of reply, prevent from controlling
Sprawling of the data packet processed in whole network；
Then, node will do it clustering operation in case of movement, and other node sending nodes hair into same cluster
Control data bag when raw mobile will empty the neighbor table of the node because movement has occurred in the position of the node, and waiting receives
Neighbor table is updated with the control data bag of node reverts backs other in cluster；If the mobile node in position is being ready for sending data packet
When, discovery neighbor table is sky, then neighbor table is checked again for after waiting 0.5s, after 5 times are attempted, and if neighbor table remains as sky,
Then abandon the data packet；With other nodes in cluster after receiving the control data bag that shift in position node is sent, it can become to position
Dynamic node sends the status information of oneself, then deletes the entry of shift in position node from neighbor table, waits to be updated；Position
Node is changed after receiving control data bag, it equally can be to neighbor node and two hop node broadcast control data packets, by cluster
Interior transmission control data bag, all nodes can all update neighbor table, adapt to the needs that data packet is routed in present topology.
The underwater sensor network Routing Protocol evaded based on dynamic network cavity of the invention, can be realized higher net
Network coverage, higher data packet delivery fraction, shorter propagation delay time and lower energy consumption.It can efficiently handle net
Network cavity problem, embodies robustness.Main feature of the invention is as follows:
1, based on the opportunistic routing protocol of depth.Node is it is only necessary to know that depth, and non-specific coordinate where itself.Pass through
Chance routing, can limit the redundant forwarding of data packet.Multiple weak paths are merged into strong path, improve delivery ratio.
2, hole region is bypassed, rather than carries out the artificial movement of isolated node.It is set up by the broadcast of BEACON
Routed path has bypassed hole region.Not only the coverage of network had been improved, but also has saved the artificial mobile institute by node
Consume to obtain additional energy.
3, more it is bonded actual node motion model.Node is under the action of rope, buoyancy and ocean current, on a spherical surface
It is moved.Emulation experiment only is carried out in the case where being more bonded actual node motion model, the result obtained could be more bonded
True underwater environment.
4, the selection of comprehensive next-hop node and dynamic route are rebuild.After setting up path in a short time, only exist
When the position of node occurs mobile, path re-establishing just will do it.BEACON grouping at this time is limited to shift in position node
In the cluster at place.When selecting next-hop node, the node more than dump energy is preferentially selected, key node can be prevented dead too early
It dies, improves network lifetime.
Detailed description of the invention
Fig. 1 is the mobility model of node；
Fig. 2 is to carry out routing data packet by virtual route；
Fig. 3 is comprehensive next-hop node selection schematic diagram；
Fig. 4 is that dynamic route rebuilds schematic diagram；
Fig. 5 is the connected ratio of underwater node with underwater interstitial content trend chart；
Fig. 6 is the delivery ratio of data packet with underwater interstitial content trend chart；
Fig. 7 is the equal energy consumption of node with underwater interstitial content trend chart；
Fig. 8 is mean transit delay with underwater interstitial content trend chart；
Specific embodiment
The underwater sensor network of the invention evaded based on dynamic network cavity is routed below with reference to example and attached drawing
Agreement is described in detail.
The underwater sensor network Routing Protocol evaded based on dynamic network cavity of the invention simulates actual underwater ocean
Environment is flowed, the mobility model of node is modeled.Consider the dump energy of sending node and both candidate nodes, designs to next-hop
The comprehensive selection strategy of node.And by underwater node clustering, subregion is dynamically handled because node energy is too low or change in topology
Caused network change.
The underwater sensor network Routing Protocol evaded based on dynamic network cavity of the invention, is included the following steps:
1) Move Mode of underwater each node is modeled, node is enable regularly to move on a spherical surface
It is dynamic；During node motion, after node reaches target position, then opposing stationary setting time starts to carry out next again
Secondary movement.
Underwater node is anchored on the bottom by rope, so that it floats in a certain range with ocean current.Due to buoyancy and
The balance of rope, rope are relatively tight in water.With the movement of water flow, the power of one transverse direction of node can be given, enables node
It is enough regularly to be shaken on a spherical surface.In mobility model of the invention, part of nodes is while received data packet, meeting
A random selected position limited in range starts to move, and reaches meeting opposing stationary a period of time behind target position.
Due to the traction of rope, the effect of buoyancy and ocean current, underwater node carries out random movement on a spherical surface.Such as
Shown in Fig. 1, the modeling includes:
If the initial position co-ordinates of underwater node N are (x0,y0,z0), the length of rope is r, anchor point N0Coordinate be
(x0,y0, 0), in the mobility model of spherical coordinate system interior joint are as follows:
Wherein r=z0, θ=θ (t), λ=λ (t), the runing time of t expression model, θ0Indicate the maximum that node can be swung
Angle, θ indicate the shaking angle of node, and λ indicates the moving direction of node.
The flow direction of ocean current is different in the water layer of different depth, and the ocean current of same layer flow to it is roughly the same.Therefore
The moving direction (i.e. λ) of identical water layer interior joint is roughly the same.In addition, depth is deeper in water body, suffered by node
Pressure is bigger.Therefore the shaking range (i.e. θ) of depths node is smaller than the node at shallow-layer place.It should be noted θ0The upper bound
Very little, this is because node moving distance in the horizontal direction=rsin θ, when θ is smaller, the node at shallow-layer can obtain compared with
Big horizontal direction moving distance.In mobility model of the invention, some nodes randomly choose a certain in its moving range
Then position starts to move.Node is also in sending and receiving data packet simultaneously.It, can be one section opposing stationary after node reaches target position
Then time starts to be moved next time.
2) the virtual flow-line path between node is established from top to bottom, and the path bypasses network hole region；
Table 1
| Variable | Definition |
| DF_dir | The routing direction of node |
| NDF_dir | Node wishes the routing direction of next-hop node |
| BEACON | Control data bag |
| D_BEACON | Control data bag when node occurs mobile |
| hop_count | The virtual route hop count having built up |
| seq_num | The sequence number for the BEACON that the last time receives |
Table 1 illustrates the variable that we can use.Node state is determined by a binary group: (DF_dir, NDF_dir).
DF_dir is UP, indicates that the node will send up grouping；For DOWN, indicate that the node will send downwards grouping.NDF_dir is
UP indicates that the node wishes that its next-hop node will send up grouping, otherwise sends downwards.
Virtual flow-line path between the node is each aggregation node period in the whole network course of work
Property send control data bag, broadcast the routing direction of oneself, the virtual route hop count that has built up and the last receive
The sequence number of control data bag, each underwater node is after receiving control data bag, if the underwater node is the last
The sequence number of the control data bag received is greater than the sequence number for the control data bag being currently received, or the last control received
The sequence number of data packet processed is identical as the sequence number for the control data bag being currently received, but having built of being recorded of control data bag
Vertical virtual route hop count is less than the virtual route hop count having built up that the control data bag being currently received is recorded, then by institute
The routing direction of next-hop node desired by the underwater node stated is set as the forwarding of node recorded in control data bag
The routing direction of the underwater node is set the direction that control data bag transmits by direction, and by oneself record
The virtual route hop count of foundation adds one, and then the underwater node is also by the state encapsulation of oneself into new control data bag,
It is broadcasted again.
In Fig. 2, S indicates aggregation node.Its interior joint c not than oneself closer to the neighbor node of the water surface, so c
In hole region.After setting up virtual route, node a sends data as source node.Data packet can at node c to
Lower propagation, has bypassed hole region, has successfully reached S.Node e sends data as source node.When grouping reaches node d, meeting
Selection g does both candidate nodes, and it is "upper" that not a node c., which requires the routing direction of next-hop node because of node d, and turn of node c
Originating party is to for "lower", and then node c will not be selected.
3) data packet is forwarded by established virtual flow-line path；Include:
Pri function includes two parts, and first part is that delay time is calculated to obtain according to depth difference, and second part is
Remaining time is calculated to obtain according to the dump energy of node.As shown in figure 3, setting node S is current forward node, n1And n2It is
Two both candidate nodes, it is assumed that the first item of the pri function of node S is a linear function about depth difference d, is indicated are as follows:
F (d)=α d+ β
In formula, α and β indicate the parameter solved,
Assuming that both candidate nodes n1It goes to forward, and both candidate nodes n2It does not go to forward, then both candidate nodes n1Delay time than wait
Select node n2It is short, so having:
f(d1)<f(d2)
In formula, d1Indicate both candidate nodes n1Depth, d2Indicate both candidate nodes n2Depth；Both candidate nodes n2Not only to receive
The data packet that node S is transmitted will also receive both candidate nodes n1Data packet inhibit oneself forwarding, if from node S to candidate
Node n1Propagation delay time be t1, from node S to both candidate nodes n2Propagation delay time be t2, from both candidate nodes n1To both candidate nodes n2
Propagation delay time be t12, then have:
t1+f(d1)+t12≤t2+f(d2)
By the f (d in f (d)=α d+ β substitution formula1) and f (d2)
Because depth difference is bigger, the propagation delay time between node is smaller, so α is negative value, then:
In view of both candidate nodes n1And n2Worst position, enableWherein between two nodes of τ=R/v expression
Maximum transmitted time delay indicates d using δ1-d2, then:
It willF (d)=α d+ β is substituted into, and sets the transmission delay between node S and the maximum both candidate nodes of depth difference
It is 0 second, then
By what is found outWithSubstitute into f (d)=α d+ β, the as pri function of node:
Wherein R represents the transmission radius of node；τ=R/v represents the maximum propagation time delay of a jump；δ is smaller, node
Delay time is longer, this will lead to end-to-end time delay increase, but limit more redundant paths, saves energy；
The Section 2 of pri function considers the dump energy accounting of forward node, due to data transmission in underwater acoustic channel
Essence is broadcast, and the communication range of node is fixed, so any node of the sending node into its communication range is sent
Consumed when data packet energy is certain.All nodes all can first received data packet, then judge whether to forward again.So
The energy of a certain node is saved, the node can only be allowed to be suppressed when forwarding data, do not send data.We allow dump energy
More node is forwarding delay when data packet lower.The node S is enabled to be because must postpone produced by capacity factor
Wherein residual_energy indicates the current dump energy of node, when inital_energy indicates that node is initial
Energy；
In conclusion pri function delay (node) when selecting next-hop for
Delay (node)=f (d)+g (residual_energy)
By the function, the redundant transmission of data packet had not only been limited, but also has balanced the dump energy of node, has enhanced node
Transmittability, extend the life cycle of network.
4) change in topology according to caused by the movement of node dynamically carries out path re-establishing.
Basic path is set up in the initial stage of network, is carried out in the remaining time using the path set up
The routing forwarding of grouping, while path re-establishing is dynamically carried out according to the variation of node location.The state of node passes through BEACON
Broadcast be updated.This will lead to the BEACON grouping that change in location node is sent out and propagates in the entire network, equally
Cause additional energy consumption.The generation of such case in order to prevent, agreement is in second stage by underwater sensor node
Sub-clustering is carried out, this is in order to which the forwarding for being grouped BEACON is limited in cluster.
Due to the movement of underwater node, it would be desirable to according to the dynamic change of topology, the update in the path Lai Jinhang.We will
Node and its neighbor node and two hop nodes are considered as the same cluster.Node can constantly pass through D_ when position occurs mobile
BEACON informs same cluster node, and the status information of oneself is replied with cluster node.Shift in position node can be according to the shape with cluster node
State updates oneself neighbor table.After node reaches target position, dynamic route reconstruction also stops.In the path re-establishing stage,
Control data bag has been limited in cluster, saves energy, has contained network storm.
Change in topology caused by the movement according to node dynamically carries out path re-establishing, comprising:
Firstly, oneself is considered as same cluster with neighbor node and two hop nodes by each node, i.e., rebuild in dynamic routing
In the process, the routing direction of shift in position node is updated using the routing direction of neighbor node and two hop nodes；Node occurs
Peripherad node sends control data bag at once when mobile, the number of in store shift in position node in control data bag, should
The maximum hop count (TTL) of control data bag is 2, this is to only have the neighbor node of shift in position node and two hop nodes can be with
Receive the control data bag；Surroundings nodes, can be to the position after receiving the control data bag that shift in position node is sent
One control data bag of node reverts back is changed, depth, the forwarding side of surroundings nodes are encase in this described control data bag
To, the sequence number of the virtual route hop count that has built up and the last control data bag received；Shift in position node is being received
To after the control data bag of reply, the state of oneself will be updated, set 2 for the maximum hop count of the control data bag of reply, prevent
Only sprawling of the control data bag in whole network.
Algorithm 1.Clustering of nodes
1.procedure Clustering(node)
2.D_BEACON.sender←node.ID
3.D_BEACON.TTL←2
4.Broadcast D_BEACON
5.end procedure
6.
7.procedure Clustering(node,D_BEACON)
8.BEACON.depth←node.depth
9.BEACON.DF_dir←node.DF_dir
10.BEACON.hop_count←node.hop_count
11.BEACON.TTL←2
12.Send BEACON to D_BEACON.sender
13.D_BEACON.TTL←D_BEACON.TTL-1
14.If D_BEACON.TTL>0then
15.Broadcast D_BEACON
16.end if
17.end procedure
Then, node will do it clustering operation in case of movement, and other node sending nodes hair into same cluster
Control data bag when raw mobile, because movement has occurred in the position of the node, the entry saved in the neighbor table of the node can
Can be no longer valid, the neighbor table of the node is emptied, the control data bag for receiving other node reverts backs in same cluster is waited to update
Neighbor table；If the mobile node in position is when being ready for sending data packet, discovery neighbor table is sky, then can wait after 0.5s again
It checks neighbor table, after 5 times are attempted, if neighbor table remains as sky, abandons the data packet；Position is being received with other nodes in cluster
It sets after changing the control data bag that node is sent, the status information of oneself can be sent to shift in position node, then becomes position
The entry of dynamic node is deleted from neighbor table, is waited to be updated；Shift in position node, equally can be to neighbour after receiving control data bag
Node and two hop node broadcast control data packets are occupied, by sending control data bag in cluster, all nodes can all update neighbour
Table is occupied, the needs for routing data packet in present topology have been adapted to.
Algorithm 2.Dynamic path reconstruction
1.procedure DynamicBroadcastBeacon(node)
2.while isMoving(node)then
3.Clustering(node)
4.Erase this node’s neighbor table
5.end while
6.end procedure
7.
8.Procedure DynamicReceiveBeacon(node,D_BEACON)
9.Clustering(node,D_BEACON)
10.Delete D_BEACON.sender from this node’s neighbor table
11.end procedure
Fig. 4 illustrates the example of the dynamic routing phase of regeneration of agreement of the invention.S indicates shift in position node in figure,
The motion track of dotted line arc representation node S, X1,X2,X3And X4Indicate that S checks position when whether oneself moves.Black circles
Indicate that position does not change node.When S is moved to X2When position, meeting and d, e, f, h and i-node form a cluster, i.e. imaginary circle in figure
Circle surrounds to obtain part.Node S can utilize the state of same cluster interior nodes to update neighbor table.Last S reaches target position X4, knot
Beam path re-establishing.
Exemplary embodiment analysis is given below compared with related work:
Emulation platform is the Aqua-Sim comprising underwater acoustic network emulation module expanded from NS2.The hardware platform of emulation is joined
Number are as follows: (1) CPU:Intel Core i7-8550U；(2) memory: 4GB；(3) operating system: Ubuntu14.04 (64bit).In
In emulation experiment of the invention, all underwater nodes are all moved with the mobility model that the present invention defines.If not special finger
Bright, 50 or 100 sensor nodes are elected to be source node at random.The every 100s of source node sends a data packet.It is generating at random
Network topology in run take for 50 times it is average as last result.The total time of single emulation is 3600s.It is wherein of the invention
The when a length of 100s of the basic path establishment stage of agreement, the when a length of 3500s of routing and dynamic route phase of regeneration.Table 2 is opened up
Remaining network settings parameter is shown.
Table 2
| Network parameter | Definition |
| Topological size | 1500m*1500m*1500m |
| Node-node transmission radius | 250m |
| Power when transmission | 2W |
| Power when reception | 0.75W |
| Power when idle | 0.008W |
| Data package size | 76b |
| Control packet size | 32b |
| δ | 125m |
| Sensor node number | 50~550 |
| Sink node number | 4~64 |
Sensor network has better efficiency to the agreement proposed in order to better illustrate the present invention under water.By its with
Four groups of comparative tests that DBR agreement carries out in emulation platform Aqua-Sim.
Fig. 5 illustrates the connected ratio of underwater node with underwater interstitial content variation tendency.Since DBR agreement is a greed
The agreement of strategy, node only can up propagate the data packet from deeper inside, not handle the mechanism in network cavity.This causes
The connected ratio of DBR agreement interior joint is slightly lower always in network settings of the invention.When number of nodes is 200, in VAPR agreement
Connection node accounting is higher than DBVR agreement.But when number of nodes is not 200, DBVR agreement is promoted on connected ratio.
Wherein when sink number of nodes is 1, DBVR is smaller with respect to VAPR promotion, has the promotion of 1%-3%.It is 4 in sink number of nodes,
When 16 or 64, the promotion of DBVR agreement is become apparent.Because underwater node, which periodically must broadcast BEACON, to be come more in VAPR agreement
Whether new virtual route has occurred movement without pipe node.In this case, if node has occurred movement, but node this
It carves there is no at the time of carrying out path re-establishing, then the data packet sent cannot be successfully transmitted.Due to DBVR agreement according to
Change in topology carries out dynamically path re-establishing, to improve the connected ratio of node, realizes higher network coverage.
From fig. 6, it can be seen that data packet can be more delivered to the sink of the water surface by DBVR agreement with the increase of number of nodes
Node.And with the increase of sink number of nodes, DBVR agreement can be realized higher data packet and throw when number of nodes is identical under water
Pass rate.When number of nodes is less than 200 under water, the effect of DBVR agreement is similar with VAPR agreement.When number of nodes is greater than 200,
The promotion of DBVR becomes apparent, and increasing with the gap of DBR agreement.This is because DBR agreement is merely able to forward up number
According to packet, network cavity problem can not be handled.And DBVR agreement can also forward downwards data packet, this makes DBVR agreement can be with
Around hole region.Do not stop to carry out the exchange between node by BEACON grouping in VAPR agreement, between underwater node come
The movement of reply node causes to obtain change in topology.This will cause the congestion of underwater acoustic channel, so that the transmitting-receiving of data packet receives influence.
Data packet can only be sent when listening to channel idle.DBVR agreement of the invention only changes in topology
When just in cluster carry out BEACON broadcast, this makes the control data bag in channel less, and data packet can arrive more quickly at
The sink node of the water surface.
It can be seen from figure 7 that the consumption of three kinds of agreement lower nodes increases more slow when number of nodes is less than 150.In
When number of nodes is greater than 150, the energy consumption approximately linear of node increases.We have seen that the energy consumption of DBR agreement is smaller, this is because
DBR agreement does not need neighbor table.This makes the agreement not need control data bag to carry out the coordination between underwater node.From figure
It will be seen that number of nodes is bigger, DBVR ratio VAPR can save more energy.In VAPR agreement, underwater node and
Sink node is broadcasting the state of oneself always to establish virtual routed path.And DBVR agreement of the invention is only first
A stage just carries out the broadcast BEACON grouping of whole network, and in remaining simulation time, node is only sent out in the position of oneself
Ability carries out the broadcast of BEACON grouping when changing dynamic in the cluster where it.In face of same node motion model, DBVR agreement
Under underwater node send control data bag number it is relatively fewer, when number-of-packet is identical, DBVR agreement consumption energy more
It is small.In addition DBVR agreement of the invention, when depth difference is similar, is more likely to select that when carrying out next-hop node selection
Node more than a little dump energies is as next-hop node.It is so too early that exhaust energy that this prevent certain nodes.Although DBVR agreement
Opposite DBR agreement energy consumption is more, but realizes the delivery ratio of higher underwater node connected ratio and grouping.
When testing mean transit delay with underwater interstitial content variation tendency, we are only provided with a source node in water
Bottom.Other underwater nodes are as just forward node.When there is no data packet to reach the water surface, in order to map conveniently, Wo Menling
Propagation delay time is 10s.
As can be seen from Figure 8, whole under VAPR and DBR when sink number of nodes is 1, and underwater sensor number of nodes is 150
A network is disconnected, and using DBVR agreement source node can be sent data packet is sent to the water surface.Likewise, working as
Sink number of nodes is 16, and when underwater sensor number of nodes is 100, DBVR can be by data packet successful delivery, and VAPR and DBR are not
Energy.With the increase of underwater number of nodes, end-to-end time delay is shorter and shorter.DBVR agreement ratio VAPR agreement can be realized lower biography
Defeated time delay.This is because DBVR can update in time routed path, enable data packet with more according to the variation of network topology
It is transmitted in short path.When sink number of nodes is 64, the entire water surface is all covered by the communication range of sink node, network
Hole region greatly reduces.So when the gap ratio sink number of nodes of the propagation delay time of DBR agreement and DBVR agreement is less than 64 more
It is close.In short, DBVR agreement can be realized higher delivery efficiency compared to VAPR and DBR.
Claims (6)
1. a kind of underwater sensor network Routing Protocol evaded based on dynamic network cavity, which is characterized in that including walking as follows
It is rapid:
1) Move Mode of underwater each node is modeled, node is enable regularly to move on a spherical surface；
2) the virtual flow-line path between node is established from top to bottom, and the path bypasses network hole region；
3) data packet is forwarded by established virtual flow-line path；
4) change in topology according to caused by the movement of node dynamically carries out path re-establishing.
2. the underwater sensor network Routing Protocol according to claim 1 evaded based on dynamic network cavity, feature
It is, modeling described in step 1) includes:
If the initial position co-ordinates of underwater node N are (x0,y0,z0), the length of rope is r, anchor point N0Coordinate be (x0,y0,
0), in the mobility model of spherical coordinate system interior joint are as follows:
Wherein r=z0, θ=θ (t), λ=λ (t), the runing time of t expression model, θ0Indicate the maximum angular that node can be swung
Degree, θ indicate that the swing angle of node, λ indicate the moving direction of node.
3. the underwater sensor network Routing Protocol according to claim 1 evaded based on dynamic network cavity, feature
It is, during node motion, after node reaches target position, then opposing stationary setting time starts to carry out down again
It is primary mobile.
4. the underwater sensor network Routing Protocol according to claim 1 evaded based on dynamic network cavity, feature
It is, the virtual flow-line path between node described in step 2), is each aggregation node week in the whole network course of work
Control data bag is sent to phase property, broadcasts the routing direction of oneself, the virtual route hop count that has built up and the last time receive
Control data bag sequence number, each underwater node is after receiving control data bag, if the underwater node nearest one
The sequence number of the secondary control data bag received is less than the sequence number of control data bag being currently received, or the last receives
The sequence number of control data bag is identical as the sequence number for the control data bag being currently received, but the control data bag institute being currently received
The virtual route hop count of record having built up is less than the virtual route hop count having built up that the node is recorded, then by institute
The routing direction of next-hop node desired by the underwater node stated is set as the forwarding of node recorded in control data bag
The routing direction of the underwater node is set the direction that control data bag transmits by direction, and by oneself record
The virtual route hop count of foundation adds one, and then the underwater node is also by the state encapsulation of oneself into new control data bag,
It is broadcasted again.
5. the underwater sensor network Routing Protocol according to claim 1 evaded based on dynamic network cavity, feature
It is, step 3) includes:
If node S is current forward node, n1And n2It is two both candidate nodes, it is assumed that the first item of the pri function of node S
It is a linear function about depth difference d, indicates are as follows:
F (d)=α d+ β
In formula, α and β indicate the parameter solved,
Assuming that both candidate nodes n1It goes to forward, and both candidate nodes n2It does not go to forward, then both candidate nodes n1Delay time than candidate save
Point n2It is short, so having:
f(d1)<f(d2)
In formula, d1Indicate both candidate nodes n1Depth, d2Indicate both candidate nodes n2Depth；Both candidate nodes n2Not only to receive node
The data packet that S is transmitted will also receive both candidate nodes n1Data packet inhibit oneself forwarding, if from node S to both candidate nodes n1
Propagation delay time be t1, from node S to both candidate nodes n2Propagation delay time be t2, from both candidate nodes n1To both candidate nodes n2Transmission
Time delay is t12, then have:
t1+f(d1)+t12≤t2+f(d2)
By the f (d in f (d)=α d+ β substitution formula1) and f (d2)
Because depth difference is bigger, the transmission delay between node is smaller, so α is negative value, then:
In view of both candidate nodes n1And n2Worst position, enableWherein τ=R/v indicates the maximum between two nodes
Propagation delay time indicates d using δ1-d2, then:
It willF (d)=α d+ β is substituted into, and sets the transmission delay between node S and the maximum both candidate nodes of depth difference as 0
Second, then
By what is found outWithSubstitute into f (d)=α d+ β, the as pri function of node:
Wherein R represents the transmission radius of node；τ=R/v represents the maximum propagation time delay of a jump；δ is smaller, the delay of node
Time is longer, this will lead to end-to-end time delay increase, but limit more redundant paths, saves energy；
The Section 2 of pri function considers the dump energy accounting of forward node, enables node S because that must prolong produced by capacity factor
Chi Wei
Wherein residual_energy indicates the current dump energy of node, and inital_energy indicates energy when node is initial
Amount；
In conclusion pri function delay (node) when selecting next-hop for
Delay (node)=f (d)+g (residual_energy)
By the function, the redundant transmission of data packet had not only been limited, but also has balanced the dump energy of node, has enhanced the biography of node
Movement Capabilities extend the life cycle of network.
6. the underwater sensor network Routing Protocol according to claim 1 evaded based on dynamic network cavity, feature
It is, step 4) includes:
Firstly, oneself is considered as same cluster, i.e., the process rebuild in dynamic routing with neighbor node and two hop nodes by each node
In, the routing direction of shift in position node is updated using the routing direction of neighbor node and two hop nodes；Node moves
When at once peripherad node send control data bag, the number of in store shift in position node, the control in control data bag
The maximum hop count of data packet is 2, this is to only have the neighbor node of shift in position node and two hop nodes that can receive the control
Data packet processed；Surroundings nodes, can be to the shift in position node after receiving the control data bag that shift in position node is sent
A control data bag is replied, the depth of surroundings nodes is encase in this described control data bag, routing direction, has been built
The sequence number of vertical virtual route hop count and the last control data bag received；Shift in position node is in the control for receiving reply
After data packet processed, the state of oneself will be updated, and set 2 for the maximum hop count of the control data bag of reply, prevent control number
According to the sprawling wrapped in whole network；
Then, node will do it clustering operation, and other node sending nodes into same cluster move in case of movement
Control data bag when dynamic will empty the neighbor table of the node because movement has occurred in the position of the node, and waiting receives same cluster
The control data bags of interior other node reverts backs updates neighbor table；If the mobile node in position when being ready for sending data packet,
It was found that neighbor table is sky, then neighbor table is checked again for after waiting 0.5s, after 5 times are attempted, if neighbor table remains as sky, lost
Abandon the data packet；It, can be to shift in position section with other nodes in cluster after receiving the control data bag that shift in position node is sent
Point sends the status information of oneself, then deletes the entry of shift in position node from neighbor table, waits to be updated；Shift in position
Node, equally can be to neighbor node and two hop node broadcast control data packets, by sending out in cluster after receiving control data bag
Control data bag is sent, all nodes can all update neighbor table, adapt to the needs that data packet is routed in present topology.
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