CN111083758A - High-energy-efficiency sound-electricity cooperative transmission network routing system and method - Google Patents
High-energy-efficiency sound-electricity cooperative transmission network routing system and method Download PDFInfo
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- CN111083758A CN111083758A CN201911306221.0A CN201911306221A CN111083758A CN 111083758 A CN111083758 A CN 111083758A CN 201911306221 A CN201911306221 A CN 201911306221A CN 111083758 A CN111083758 A CN 111083758A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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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
- H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
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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
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention belongs to the field of underwater acoustic sensor networks and wireless sensor networks, and relates to a high-energy-efficiency acoustoelectric cooperative transmission network routing system, which comprises: buoy node and node under water, according to the effect of having a role, divide into: a transmission source node, a relay node and a destination node, specifically: the sending source node is used for broadcasting a route request RREQ message to surrounding nodes in a flooding manner when the route information reaching the destination node is not detected; the relay node is used for receiving and forwarding the routing request and judging whether the node is suitable for transmitting the routing request; if yes, selecting different route forwarding mechanisms according to the type of the relay node; and the destination node is used for receiving the routing message or the data and returning a routing response RREP message to the sending source node according to the optimal communication path. The invention shares the cost of the underwater acoustic link routing signaling through the cooperation of the wireless links of the water surface buoy nodes, and improves the whole bandwidth utilization rate of the network. The invention also discloses a routing method of the high-energy-efficiency sound-electricity cooperative transmission network.
Description
Technical Field
The invention relates to the field of underwater acoustic sensor networks and wireless sensor networks, in particular to a high-energy-efficiency acoustoelectric cooperative transmission network routing system and method.
Background
Ocean engineering has become a major focus of scientific and technological research today, and underwater acoustic communication is one of the key technologies in developing ocean resources and developing ocean military. The underwater acoustic sensor network is widely applied to the aspects of commercial exploration, aquatic organism research, ocean data collection and the like, and gradually becomes a supporting technology of underwater acoustic communication along with the development of wireless networking technology and the like. In recent years, researchers have made extensive research on underwater acoustic sensor networks in many respects, such as underwater acoustic channels, underwater acoustic modems, MACs, and routing.
Marine information is typically collected by sensors deployed under water and transmitted back to a land monitoring center or a marine platform. The ocean information transmission needs two media of water and air, and comprises underwater nodes (including underwater sensor nodes, underwater cruising and the like, water surface relay nodes (including ships, buoys, aerial nodes (including satellites, unmanned aerial vehicles and the like forming an ocean information transmission network).
The sound-electricity cooperative transmission network is a heterogeneous network formed by mixing an underwater sound link and a radio link, and can realize cross-domain transmission of marine information. Current research generally divides radio networks and underwater acoustic networks into two parts to be deployed independently. However, the two networks together transmit the same marine information. In particular, the quality of the underwater acoustic link deployed underwater differs significantly from that of the radio link at the surface.
The underwater communication environment is very severe, and an underwater acoustic channel is a dual-selective fading channel, has the characteristics of time variation, space variation and frequency variation, and has serious multipath effect and Doppler effect. Compared with a radio link, the underwater acoustic link has extremely low available bandwidth, high packet loss rate and prolonged transmission time. Particularly, the underwater node is generally powered by a battery, and the battery is very difficult to replace.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the high-energy-efficiency sound-electricity cooperative transmission network routing system which can effectively improve the data transmission performance of the sound-electricity cooperative transmission network.
The invention also provides a routing method of the high-energy-efficiency sound-electricity cooperative transmission network.
The invention is realized by adopting the following technical scheme:
an energy-efficient acousto-electric cooperative transmission network routing system, comprising: the system comprises buoy nodes and underwater nodes, wherein a plurality of buoy nodes are deployed on the water surface, and a plurality of underwater nodes are deployed underwater; the buoy nodes are provided with underwater sound and radio interfaces, the underwater nodes are only provided with the underwater sound interfaces, the underwater nodes are mainly communicated in a sound wave mode, the communication between the buoy nodes on the water surface is in radio electromagnetic wave communication, and the information exchange between the water surface and the underwater depends on the underwater sound interfaces of the buoy nodes and the underwater nodes; buoy node and node under water divide into according to what play: a transmission source node, a relay node and a destination node, wherein: the relay node includes: relay buoy node and relay underwater node, specifically:
the sending source node is used for broadcasting a route request RREQ message to surrounding nodes in a flooding manner when the route information reaching the destination node is not detected;
the relay node is used for receiving and transmitting the routing request and judging whether the node is suitable for transmitting the routing request according to the residual electric quantity of the node and the node queue cache length; if the relay node is suitable, different route forwarding mechanisms are selected according to the type of the relay node; if the relay buoy node is the relay buoy node, a priority radio forwarding mechanism is executed; if the node is the relay underwater node, executing a relay underwater node routing mechanism;
and the destination node is used for receiving the routing message or the data, selecting the optimal communication path with the minimum delay cost for the routing requests of different arrival paths, and returning a routing response RREP message to the sending source node according to the optimal communication path.
Preferably, the priority radio forwarding mechanism comprises: when the relay buoy node participates in route searching and forwarding, after receiving a route request RREQ message, preferentially adopting a radio interface of the buoy node to broadcast and forward a route searching packet, at the moment, the relay buoy node enters a waiting stage, and when the waiting time of the relay buoy node exceeds the maximum route searching time, if a route response RREP message returned by a target node is not received, judging that an effective communication path of the target node cannot be found through radio link cooperation; when the radio link can not find the effective communication path of the destination node, the relay buoy node selects the underwater sound interface to rebroadcast and forward the same route request RREQ message, and enters the waiting stage again, if the relay buoy node waiting time exceeds the maximum route searching time again, the relay buoy node does not receive the route response RREP message returned by the destination node, the relay buoy node is judged not to be the effective node, and the route message is discarded.
Preferably, the relay buoy node performs a priority radio forwarding mechanism procedure comprising the steps of:
step X1: the sending source node S checks the status;
step X2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step X3: the relay buoy node X checks the state;
step X4: a relay buoy node X receives a route request RREQ message;
step X5: the relay buoy node X checks whether the route request RREQ message is received for the first time, and if so, the step X6 is carried out; otherwise, directly discarding the routing message;
step X6: the relay buoy node X checks whether a destination node of the RREQ exists, and if so, the step X15 is carried out; otherwise go to step X7;
step X7: the relay buoy node X checks whether a valid route to the RREQ destination node exists, and if the valid route exists, the step X15 is carried out; otherwise go to step X8;
step X8: the relay buoy node X judges whether the transmission is suitable according to the residual capacity of the node and the queue buffer length, and if the transmission is suitable, the step X9 is carried out; otherwise, discarding the routing message;
step X9: adding 1 to the forwarding hop count in the route request RREQ message and adding 1 to the route length of a destination node, and then adopting a priority radio forwarding mechanism by a relay buoy node X, namely broadcasting a new route message by a wireless interface;
step X10: the relay buoy node X sets a routing request timeout timer;
step X11: the relay buoy node X enters a waiting stage, and the routing request timeout timer finds that the routing searching time exceeds the specified time, then the step X12 is carried out; otherwise, if a route response RREP message transmitted back by the destination node is received, the step is switched to the step X15;
step X12: when the wireless link route search fails, the underwater acoustic interface of the relay buoy node X rebroadcasts the same route message;
step X13: the relay buoy node X sets a routing request timeout timer;
step X14: the relay buoy node X enters a waiting stage, and if the routing request timeout timer finds that the routing searching time exceeds the specified time, the message is discarded; otherwise, receiving a route response RREP message transmitted back by the destination node, and turning to the step X15;
step X15: sending a route response RREP message to a source node of the RREQ; go to step X16;
step X16: the relay buoy node X checks whether the route in the RREP is newer than the route in the routing table of the relay buoy node X, and if the route in the RREP is newer, the step X17 is carried out; otherwise go to step X18;
step X17: the relay buoy node X updates a local routing table of a destination node;
step X18: go to step X3.
Preferably, the relay underwater node route forwarding mechanism process includes:
step Y1: the sending source node S checks the status;
step Y2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step Y3: the relay underwater node Y checks the state;
step Y4: a relay underwater node Y receives a route request RREQ message;
step Y5: the relay underwater node Y checks whether the route request RREQ message is received for the first time, and if yes, the step Y6 is carried out; otherwise, directly discarding the routing message and sleeping;
step Y6: the relay underwater node Y checks whether a destination node of the RREQ exists or not, and if yes, the step Y10 is carried out; otherwise go to step Y7;
step Y7: the relay underwater node Y checks whether an effective route to the RREQ destination node exists or not, and if the effective route exists, the step Y10 is carried out; otherwise go to step Y8;
step Y8: the relay underwater node Y judges whether the transmission is suitable according to the residual electric quantity of the node and the queue buffer length, and if the transmission is suitable, the relay underwater node Y goes to step Y9; otherwise, discarding the routing message and sleeping;
step Y9: adding 1 to the number of forwarding hops in the RREQ message, adding 1 to the routing length of a target node, and then generating a new routing request RREQ message by the relay underwater node Y and broadcasting the message; go to step Y13;
step Y10: sending a route response RREP message to a source node of the RREQ; go to step Y11;
step Y11: the relay underwater node Y checks whether the route in the RREP is updated than the route in the route table of the relay underwater node Y; if the route in the RREP is newer, go to step Y12; otherwise go to step Y13;
step Y12: the relay underwater node Y updates a local routing table of a destination node;
step Y13: go to step Y3.
Preferably, the frame format of the route request RREQ message includes: the method comprises the steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node, delay cost from RREQ source node to the node and forwarding waiting time threshold; wherein:
the route request identification code is the unique identification number of the current RREQ message, and the condition of multiple responses to the same message can be effectively avoided through the route request identification code, so that the route endless loop is prevented; the message broadcast ID field is used for comparing with the node cache routing table and judging whether to update the local routing table; the time delay cost field from the RREQ source node to the node is used for measuring and establishing an optimal communication path; and the forwarding waiting time threshold field is used for setting the maximum route searching time of the buoy node under different requirements.
Preferably, the frame format of the route reply RREP message includes: the method comprises the following steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node and relay node address list, wherein: the route request identification code is the unique identification number of the current RREP message.
Preferably, the subsea node comprises the following three states:
a) discovery status: the underwater node underwater acoustic interface transceiver module is started, and exchanges routing request messages with underwater acoustic interfaces of other nodes in the network;
b) active state: the underwater node underwater acoustic interface transceiver module is in an open state and exchanges data messages with underwater acoustic interfaces of other nodes in the network;
c) sleeping state: the underwater node underwater acoustic interface transceiver module is switched off from dormancy, and the node does not perform any data packet transceiving work;
when the underwater node is in a Sleeping state, if a routing request or a data request is detected, the underwater node is correspondingly converted into a Discovery state or an Active state; and when the underwater node does not meet the routing condition, the Discovery state is transferred to the Sleeping state.
Preferably, the delay cost refers to the time elapsed from the time when the sending source node initiates the route request RREQ message to the time when the corresponding destination node replies the route response RREP message, and the delay cost may reflect the quality of the network condition.
Preferably, when the destination node selects the optimal communication path, the method further includes: and when a plurality of different routing communication paths have the same time delay cost, selecting the path with less hop number as the optimal communication path.
A routing method of an energy-efficient sound-electricity cooperative transmission network comprises the following steps:
s1, when the sending source node does not detect the route information reaching the destination node, the sending source node broadcasts a route request RREQ message to the surrounding nodes;
s2, after receiving the RREQ message sent by the sending source node, the surrounding nodes judge whether the RREQ message is a destination node, if yes, the RREQ message is the destination node, and the step goes to S3; if not, judging whether the node is suitable for forwarding the route request RREQ message, if so, the node is a relay node, and turning to the step S4; if not, directly discarding the RREQ message of the route request;
s3, the destination node selects the optimal communication path for different arrival paths with the minimum delay cost, returns a response message RREP to the sending source node according to the optimal communication path, and goes to the step S5; if the delay costs of different paths are the same, selecting the path with small hop number as the optimal communication path, returning a response message RREP to the sending source node according to the optimal communication path, and turning to the step S5;
s4, the relay node updates the RREQ message, and retransmits the updated RREQ message until the destination node is reached; specifically, the relay nodes comprise relay buoy nodes and relay underwater nodes, and if the relay buoy nodes are the relay buoy nodes, a priority radio forwarding mechanism is executed; if the node is a relay underwater node, the updated route request RREQ message is directly forwarded;
and S5, the transmission source node transmits data according to the optimal communication path and the destination node.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention introduces a priority radio forwarding mechanism, shares the routing signaling overhead of the underwater acoustic link through the cooperation of the wireless links of the water surface buoy nodes, and improves the whole bandwidth utilization rate of the network.
(2) Based on the node residual electric quantity and the queue cache length, the node energy and load conditions are fully considered in the process of selecting the route forwarding node, the route is prevented from being established on the node in a congestion state and with insufficient residual energy, the application requirements of the sound-electricity cooperative transmission network are better met, the reliability of data transmission is improved, the energy consumption of the network is balanced, and the overall data transmission performance of the network is improved.
(3) Aiming at the problem that the battery energy of the underwater node is limited and is difficult to replace, in order to save energy, the underwater node comprises a Discovery state, an Active state and a Sleeping state, and the battery energy can be utilized more efficiently.
Drawings
Fig. 1 is a schematic diagram of a routing system of an audio-electrical cooperative transmission network according to an embodiment of the present invention.
Fig. 2 is a flow chart of a routing method of the audio-electrical cooperative transmission network in an embodiment of the present invention.
Fig. 3 is a main flow chart of node software design of a routing system of an acousto-electric cooperative transmission network in an embodiment of the present invention.
Fig. 4 is a flow chart of a node routing broadcast timeout module of the routing system of the audio-electrical cooperative transmission network according to an embodiment of the present invention.
Fig. 5 is a flow chart of a node sending module of the routing system of the sound-electricity cooperative transmission network in an embodiment of the present invention.
Fig. 6 is a flow chart of a node receiving module of the routing system of the audio-electrical cooperative transmission network according to an embodiment of the present invention.
Fig. 7 is a specific flowchart of a sending module of a relay buoy node of a routing system of an acousto-electric cooperative transmission network in an embodiment of the present invention.
Fig. 8 is a specific flowchart of a relay underwater node sending module of the acoustic-electric cooperative transmission network routing system in an embodiment of the present invention.
Fig. 9 is a state transition diagram of an underwater node of a routing system of an acousto-electric cooperative transmission network in an embodiment of the present invention.
Fig. 10 shows a RREQ routing packet frame format of the routing system of the audio-electrical cooperative transmission network according to an embodiment of the present invention.
Fig. 11 is a frame format of a RREP routing packet of the routing system of the acousto-electric cooperative transmission network according to an embodiment of the present invention.
Fig. 12 is a local routing table maintained by a node of the routing system of the audio-visual collaborative transmission network according to an embodiment of the present invention.
Fig. 13 is a schematic diagram of a node update message collision network of a routing system of an acousto-electric cooperative transmission network according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
An energy-efficient sound-electricity cooperative transmission network routing system is shown in fig. 1, and comprises a plurality of nodes, specifically: the system comprises buoy nodes and underwater nodes, wherein a plurality of buoy nodes are deployed on the water surface, and a plurality of underwater nodes are deployed underwater. The buoy nodes are provided with underwater sound and radio interfaces, the underwater nodes are only provided with the underwater sound interfaces, the underwater nodes are mainly communicated in a sound wave mode, the communication between the buoy nodes on the water surface generally adopts radio electromagnetic wave communication, and the information exchange between the water surface and the underwater mainly depends on the underwater sound interfaces of the buoy nodes and the underwater nodes. Buoy node and node under water divide into according to what play: a transmission source node, a relay node and a destination node, wherein: the relay node includes: relay buoy node and relay underwater node, specifically:
the system comprises a sending source node and a peripheral node, wherein the sending source node is used for broadcasting a route request message carrying RREQ to the peripheral node in a flooding manner when the route information reaching a destination node is not detected;
the relay node is used for receiving and transmitting the routing request and judging whether the node is suitable for transmitting the routing request according to the residual electric quantity of the node and the node queue cache length; if yes, different route forwarding mechanisms are selected according to the types of the relay nodes. If the node is a relay buoy node, a priority radio forwarding mechanism is executed. If the node is a relay underwater node, only the updated routing message needs to be directly forwarded.
And the destination node is used for receiving the routing message or the data, selecting the optimal communication path with the minimum delay cost for the routing requests of different arrival paths, and returning a response message RREP to the sending source node according to the optimal communication path.
The relay buoy node route forwarding mechanism is explained in detail below.
For the relay buoy node, the route forwarding mechanism adopts a priority radio forwarding mechanism. The priority radio forwarding mechanism includes: when the relay buoy node participates in route searching and forwarding, after receiving a route request RREQ message, preferentially adopting a radio interface of the buoy node to broadcast and forward a route searching packet, at the moment, the relay buoy node enters a waiting stage, and when the waiting time of the relay buoy node exceeds the maximum route searching time, if a route response RREP message returned by a target node is not received, judging that an effective communication path of the target node cannot be found through radio link cooperation; when the radio link can not find the effective communication path of the destination node, the relay buoy node selects the underwater acoustic interface to rebroadcast and forward the same route request RREQ message, and enters the waiting stage again, if the relay buoy node waiting time exceeds the maximum route searching time again, the RREP message returned by the destination node is not received, the relay buoy node is judged not to be the effective node, and the route message is discarded. The maximum route search time may be sized for the size of the network.
There is a high probability that multiple route search results will be received at the destination node, for which case the delay cost metric is selected to select the optimal communication path. The delay cost refers to the time from the time when the source node initiates the route RREQ packet to the time when the RREP packet replied by the corresponding destination node is received, and the delay cost can reflect the quality of the network condition. And when a plurality of different routing communication paths have the same time delay cost, selecting the path with less hop number as the optimal communication path.
Referring to fig. 1 to 6 and 9 to 12, the procedure of the relay buoy node performing the priority radio forwarding mechanism includes the following steps:
step X1: the sending source node S checks the status;
step X2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step X3: the relay buoy node X checks the state;
step X4: a relay buoy node X receives a route request RREQ message;
step X5: the relay buoy node X checks whether the RREQ routing message is received for the first time, and if so, the step X6 is carried out; otherwise, directly discarding the routing message;
step X6: the relay buoy node X checks whether a destination node of the RREQ exists, and if so, the step X15 is carried out; otherwise go to step X7;
step X7: the relay buoy node X checks whether a valid route to the RREQ destination node exists, and if the valid route exists, the step X15 is carried out; otherwise go to step X8;
step X8: the relay buoy node X judges whether the transmission is suitable according to the residual capacity of the node and the queue buffer length, and if the transmission is suitable, the step X9 is carried out; otherwise, discarding the routing message;
step X9: adding 1 to the number of forwarding hops in the RREQ message, adding 1 to the routing length of a destination node, and then adopting a priority radio forwarding mechanism by a relay buoy node X, namely broadcasting a new routing message by a wireless interface;
step X10: the relay buoy node X sets a routing request timeout timer;
step X11: the relay buoy node X enters a waiting stage, and the routing request timeout timer finds that the routing searching time exceeds the specified time, then the step X12 is carried out; otherwise, if the RREP message transmitted back by the destination node is received, the step is switched to the step X15;
step X12: when the wireless link route search fails, the underwater acoustic interface of the relay buoy node X rebroadcasts the same route message;
step X13: the relay buoy node X sets a routing request timeout timer;
step X14: the relay buoy node X enters a waiting stage, and if the routing request timeout timer finds that the routing searching time exceeds the specified time, the message is discarded; otherwise, receiving the RREP message transmitted back by the destination node, and turning to the step X15;
step X15: sending a routing reply data message RREP to a source node of the RREQ; go to step X16;
step X16: the relay buoy node X checks if the route in the RREP is newer than the route in its own routing table. If the route in the RREP is newer, go to step X17; otherwise go to step X18;
step X17: the relay buoy node X updates a local routing table of a destination node;
step X18: go to step X3.
The relay underwater node route forwarding mechanism is explained in detail below.
Referring to fig. 1-5 and 7-11, the routing broadcast forwarded by the underwater relay node comprises the following steps:
step Y1: the sending source node S checks the status;
step Y2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step Y3: the relay underwater node Y checks the state;
step Y4: a relay underwater node Y receives a route request RREQ message;
step Y5: the relay underwater node Y checks whether the RREQ routing message is received for the first time, and if yes, the step Y6 is carried out; otherwise, directly discarding the routing message and sleeping;
step Y6: and the relay underwater node Y checks whether a destination node of the RREQ exists. If yes, go to step Y10; otherwise go to step Y7;
step Y7: the relay underwater node Y checks whether an effective route to the RREQ destination node exists or not, and if the effective route exists, the step Y10 is carried out; otherwise go to step Y8;
step Y8: the relay underwater node Y judges whether the transmission is suitable according to the residual electric quantity of the node and the queue buffer length, and if the transmission is suitable, the relay underwater node Y goes to step Y9; otherwise, discarding the routing message and sleeping;
step Y9: adding 1 to the number of forwarding hops in the RREQ message, adding 1 to the routing length of a target node, and then generating a new routing request data message RREQ by the relay underwater node Y and broadcasting the new routing request data message RREQ; go to step Y13;
step Y10: sending a routing reply data message RREP to a source node of the RREQ; go to step Y11;
step Y11: the relay underwater node Y checks whether the route in the RREP is newer than the route in its own route table. If the route in the RREP is newer, go to step Y12; otherwise go to step Y13;
step Y12: the relay underwater node Y updates a local routing table of a destination node;
step Y13: go to step Y3.
Referring to fig. 1 to 12, the process for transmitting DATA specifically includes the following steps:
step Z1: any node Z checks the state;
step Z2: the node Z has an upper-layer DATA DATA packet to be sent to a destination node;
step Z3: it is checked whether node Z is the destination node. If so, go to step Z6; otherwise go to step Z4;
step Z4: the node Z checks whether the node Z has a valid route to the destination node, and if so, the step Z5 is carried out; if not, discarding the DATA packet;
step Z5: node Z forwards DATA packets;
step Z6: buffering the sending data packet, sending an ACK information packet, and going to step Z1.
In this embodiment, the local routing tables maintained by the above-water nodes and the below-water nodes are shown in fig. 12. The local routing table is designed to store a routing table for recording the next hop node information of the node, and the field of the routing table entry comprises: destination node address, destination node sequence number, hop count, minimum hop count, path number, next hop node address, and path priority. The destination node address is the network address of the destination node of the transmission information; the sequence number of the destination node is used for marking the sequence of the received message packet sent by the source node, the sequence number is a natural positive number, the larger the number is, the more new the message is, and the node routing table only stores the received latest routing information; hop count refers to the number of hops required to transmit along the path to the destination node; the minimum hop count is the minimum hop count value in the records to the same target node in the routing table; the next hop node address refers to the node address to which the step 1 is transmitted to the destination node along the path; the path priority is expressed as a natural positive number, and the smaller the number, the higher the level, and a path having a priority equal to 1 is considered first when transmitting data.
Because of data collision, part of the buoy nodes may not receive the route update message, as in the network shown in fig. 13, the node 2 and the node 3 receive the route update message sent by the node 1 at the same time, and forward the route update message at the same time after processing, so that two data packets collide at the node 4, and the node 4 cannot receive the route update message.
In order to avoid the failure of route updating caused by data collision, the routing protocol of the invention adopts random delay transmission to reduce the influence of data collision. The random delay sending means that when the node forwards the central route request message, a period of random time needs to be delayed, so that the probability of data packet collision is reduced. The random back-off time is:
RandomDelay＝Uniform(0,MaxDelay)
where MaxDelay is the maximum forwarding delay.
The invention aims to save energy and utilize energy as efficiently as possible, and the underwater node comprises the following three states:
a) discovery status: the underwater node underwater acoustic interface transceiver module is started, and exchanges routing request messages with underwater acoustic interfaces of other nodes in the network;
b) active state: the underwater node underwater acoustic interface transceiver module is in an open state and exchanges data messages with underwater acoustic interfaces of other nodes in the network;
c) sleeping state: the underwater node underwater acoustic interface transceiver module is switched off from dormancy, and the underwater node does not perform any data packet transceiving work;
when the underwater node is in the Sleeping state, if a routing request or a data request is detected, the underwater node is correspondingly converted into a Discovery state or an Active state. And when the underwater node does not meet the routing condition, the Discovery state is transferred to the Sleeping state.
A routing method of an energy-efficient sound-electricity cooperative transmission network comprises the following steps:
s1, when the source node does not detect the route information to the destination node, it broadcasts the route request RREQ message to the surrounding nodes.
The routing method of the invention is characterized in that the routing is established according to the requirement, the nodes start the Route discovery process only when having communication requirement, when the node routing list does not exist (or the node routing list item which has failed and reaches the destination node, the node starts to broadcast the Route Request RREQ message to the surrounding nodes.
Specifically, the frame format of the expanded route request RREQ message is shown in fig. 10, and includes: the method comprises the steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node, time delay cost from RREQ source node to the node and forwarding waiting time threshold. The route request identification code is the unique identification number of the current RREQ message, and the condition that each node responds to the same message for multiple times can be effectively avoided through the serial number, so that the route endless loop is prevented. Newly adding a message broadcast ID field for comparing with the node cache routing table to see whether to update the local routing table; newly adding a time delay cost field from the RREQ source node to the node, and establishing an optimal communication path by taking the time delay cost field as a measure; and a new forwarding waiting time threshold field is added and used for setting the maximum route searching time of the buoy node under different requirements.
S2, after receiving the RREQ message sent by the sending source node, the surrounding nodes judge whether the RREQ message is a destination node, if yes, the RREQ message is the destination node, and the step goes to S3; if not, judging whether the node is suitable for forwarding the route request RREQ message, if so, the node is a relay node, and turning to the step S4; if not, the RREQ message of the route request is directly discarded.
Specifically, after receiving a route request RREQ message sent by a sending source node, surrounding nodes judge whether the route request RREQ message is a repeated RREQ route message, if so, the route request RREQ message is discarded, otherwise, the nodes judge whether a destination address is the address of the node according to the route request RREQ message; and if so, deleting the RREQ message, returning a response message RREP to the sending source node according to a path corresponding to the route request, if the destination address is not the address of the node, taking the node as a relay node, adding 1 to the hop count in the RREQ message, and writing the address of the node into the relay address corresponding to the hop count in the RREQ message. And after judging that the node meets the transmission requirement according to the residual electric quantity of the node and the node queue cache length, selecting a route forwarding mechanism according to the type of the relay node.
S3, the destination node selects the optimal communication path with the minimum delay cost for different arrival paths, returns a response message RREP to the sending source node according to the optimal communication path, and goes to the step S5. If the delay costs of different paths are the same, the path with the small hop count is selected as the optimal communication path, and then the response message RREP is returned to the sending source node according to the optimal communication path, and the step S5 is switched to.
In this embodiment, the frame format of the response message RREP is shown in fig. 11, and includes: the method comprises the steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node and relay node address list. The route request identification code is the unique identification number of the current RREP message, the condition that each node responds to the same message for multiple times can be effectively avoided through the serial number, and the comparison of the updating conditions of the route table is reduced.
And S4, the relay node updates the RREQ message and retransmits the updated RREQ message until the destination node is reached. Specifically, the relay nodes comprise relay buoy nodes and relay underwater nodes, and if the relay buoy nodes are the relay buoy nodes, a priority radio forwarding mechanism is executed; and if the node is the relay underwater node, directly forwarding the updated route request RREQ message.
And the relay buoy node and the relay underwater node judge whether the node is suitable for transmitting the routing request according to the residual electric quantity of the node and the queue cache length. If the node is a relay buoy node, a priority radio forwarding mechanism is required to be executed. If the node is a relay underwater node, only the received routing message needs to be directly forwarded.
In the process of route discovery, two parameters of node residual capacity and queue cache length are provided as a judgment basis for judging whether the node participates in forwarding. The relay node may store information of a next-stage node that can go through in advance, in order to perform route request forwarding when it is confirmed that forwarding can be participated. If the relay node does not participate in forwarding, the relay node can directly discard the message.
Based on the judgment of the node residual capacity and the queue cache length, the energy and load conditions of the nodes can be fully considered in the routing selection process, and the routing is prevented from being established on the nodes in a congestion state and with insufficient residual capacity.
In addition, when detecting the route information to the destination node, the transmission source node can transmit the data directly based on the route information. After receiving a route request RREQ message sent by a sending source node, the relay node judges whether the node is a destination node, and if not, the relay node retransmits the data according to the route information until the destination node receives the data.
And S5, the transmission source node transmits data according to the optimal communication path and the destination node.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. An energy-efficient acousto-electric cooperative transmission network routing system, comprising: the system comprises buoy nodes and underwater nodes, wherein a plurality of buoy nodes are deployed on the water surface, and a plurality of underwater nodes are deployed underwater; the buoy nodes are provided with underwater sound and radio interfaces, the underwater nodes are only provided with the underwater sound interfaces, the underwater nodes are mainly communicated in a sound wave mode, the communication between the buoy nodes on the water surface is in radio electromagnetic wave communication, and the information exchange between the water surface and the underwater depends on the underwater sound interfaces of the buoy nodes and the underwater nodes; buoy node and node under water divide into according to what play: a transmission source node, a relay node and a destination node, wherein: the relay node includes: relay buoy node and relay underwater node, specifically:
the sending source node is used for broadcasting a route request RREQ message to surrounding nodes in a flooding manner when the route information reaching the destination node is not detected;
the relay node is used for receiving and transmitting the routing request and judging whether the node is suitable for transmitting the routing request according to the residual electric quantity of the node and the node queue cache length; if the relay node is suitable, different route forwarding mechanisms are selected according to the type of the relay node; if the relay buoy node is the relay buoy node, a priority radio forwarding mechanism is executed; if the node is the relay underwater node, executing a relay underwater node routing mechanism;
and the destination node is used for receiving the routing message or the data, selecting the optimal communication path with the minimum delay cost for the routing requests of different arrival paths, and returning a routing response RREP message to the sending source node according to the optimal communication path.
2. The energy-efficient acousto-electric cooperative transmission network routing system according to claim 1, wherein the priority radio forwarding mechanism comprises: when the relay buoy node participates in route searching and forwarding, after receiving a route request RREQ message, preferentially adopting a radio interface of the buoy node to broadcast and forward a route searching packet, at the moment, the relay buoy node enters a waiting stage, and when the waiting time of the relay buoy node exceeds the maximum route searching time, if a route response RREP message returned by a target node is not received, judging that an effective communication path of the target node cannot be found through radio link cooperation; when the radio link can not find the effective communication path of the destination node, the relay buoy node selects the underwater sound interface to rebroadcast and forward the same route request RREQ message, and enters the waiting stage again, if the relay buoy node waiting time exceeds the maximum route searching time again, the relay buoy node does not receive the route response RREP message returned by the destination node, the relay buoy node is judged not to be the effective node, and the route message is discarded.
3. The energy-efficient acousto-electric cooperative transmission network routing system according to claim 2, wherein the relay buoy node performs a priority radio forwarding mechanism process including the steps of:
step X1: the sending source node S checks the status;
step X2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step X3: the relay buoy node X checks the state;
step X4: a relay buoy node X receives a route request RREQ message;
step X5: the relay buoy node X checks whether the route request RREQ message is received for the first time, and if so, the step X6 is carried out; otherwise, directly discarding the routing message;
step X6: the relay buoy node X checks whether a destination node of the RREQ exists, and if so, the step X15 is carried out; otherwise go to step X7;
step X7: the relay buoy node X checks whether a valid route to the RREQ destination node exists, and if the valid route exists, the step X15 is carried out; otherwise go to step X8;
step X8: the relay buoy node X judges whether the transmission is suitable according to the residual capacity of the node and the queue buffer length, and if the transmission is suitable, the step X9 is carried out; otherwise, discarding the routing message;
step X9: adding 1 to the forwarding hop count in the route request RREQ message and adding 1 to the route length of a destination node, and then adopting a priority radio forwarding mechanism by a relay buoy node X, namely broadcasting a new route message by a wireless interface;
step X10: the relay buoy node X sets a routing request timeout timer;
step X11: the relay buoy node X enters a waiting stage, and the routing request timeout timer finds that the routing searching time exceeds the specified time, then the step X12 is carried out; otherwise, if a route response RREP message transmitted back by the destination node is received, the step is switched to the step X15;
step X12: when the wireless link route search fails, the underwater acoustic interface of the relay buoy node X rebroadcasts the same route message;
step X13: the relay buoy node X sets a routing request timeout timer;
step X14: the relay buoy node X enters a waiting stage, and if the routing request timeout timer finds that the routing searching time exceeds the specified time, the message is discarded; otherwise, receiving a route response RREP message transmitted back by the destination node, and turning to the step X15;
step X15: sending a route response RREP message to a source node of the RREQ; go to step X16;
step X16: the relay buoy node X checks whether the route in the RREP is newer than the route in the routing table of the relay buoy node X, and if the route in the RREP is newer, the step X17 is carried out; otherwise go to step X18;
step X17: the relay buoy node X updates a local routing table of a destination node;
step X18: go to step X3.
4. The energy-efficient acousto-electric cooperative transmission network routing system according to claim 1, wherein the relay underwater node routing forwarding mechanism process includes:
step Y1: the sending source node S checks the status;
step Y2: when the broadcast timer of the sending source node S is overtime, the sending source node S adds 1 to the broadcast ID of the sending source node S, the route length from the sending source node S to the destination node is set to be 0, and a route request RREQ message is generated and broadcasted;
step Y3: the relay underwater node Y checks the state;
step Y4: a relay underwater node Y receives a route request RREQ message;
step Y5: the relay underwater node Y checks whether the route request RREQ message is received for the first time, and if yes, the step Y6 is carried out; otherwise, directly discarding the routing message and sleeping;
step Y6: the relay underwater node Y checks whether a destination node of the RREQ exists or not, and if yes, the step Y10 is carried out; otherwise go to step Y7;
step Y7: the relay underwater node Y checks whether an effective route to the RREQ destination node exists or not, and if the effective route exists, the step Y10 is carried out; otherwise go to step Y8;
step Y8: the relay underwater node Y judges whether the transmission is suitable according to the residual electric quantity of the node and the queue buffer length, and if the transmission is suitable, the relay underwater node Y goes to step Y9; otherwise, discarding the routing message and sleeping;
step Y9: adding 1 to the number of forwarding hops in the RREQ message, adding 1 to the routing length of a target node, and then generating a new routing request RREQ message by the relay underwater node Y and broadcasting the message; go to step Y13;
step Y10: sending a route response RREP message to a source node of the RREQ; go to step Y11;
step Y11: the relay underwater node Y checks whether the route in the RREP is updated than the route in the route table of the relay underwater node Y; if the route in the RREP is newer, go to step Y12; otherwise go to step Y13;
step Y12: the relay underwater node Y updates a local routing table of a destination node;
step Y13: go to step Y3.
5. The energy-efficient sound-electricity cooperative transmission network routing system according to any one of claims 1 to 4, wherein the frame format of the route request RREQ message includes: the method comprises the steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node, delay cost from RREQ source node to the node and forwarding waiting time threshold; wherein:
the route request identification code is the unique identification number of the current RREQ message, and the condition of multiple responses to the same message can be effectively avoided through the route request identification code, so that the route endless loop is prevented; the message broadcast ID field is used for comparing with the node cache routing table and judging whether to update the local routing table; the time delay cost field from the RREQ source node to the node is used for measuring and establishing an optimal communication path; and the forwarding waiting time threshold field is used for setting the maximum route searching time of the buoy node under different requirements.
6. The energy-efficient sound-electricity cooperative transmission network routing system according to any one of claims 1 to 4, wherein the frame format of the route reply RREP message includes: the method comprises the following steps of data packet type, message broadcast ID, forwarding hop count calculator, route request identification code, destination node IP address, destination node serial number, IP address of route request RREQ source node, serial number of route request RREQ source node and relay node address list, wherein: the route request identification code is the unique identification number of the current RREP message.
7. The energy-efficient acousto-electric cooperative transmission network routing system according to any one of claims 1 to 4, wherein the underwater node comprises the following three states:
a) discovery status: the underwater node underwater acoustic interface transceiver module is started, and exchanges routing request messages with underwater acoustic interfaces of other nodes in the network;
b) active state: the underwater node underwater acoustic interface transceiver module is in an open state and exchanges data messages with underwater acoustic interfaces of other nodes in the network;
c) sleeping state: the underwater node underwater acoustic interface transceiver module is switched off from dormancy, and the underwater node does not perform any data packet transceiving work;
when the underwater node is in a Sleeping state, if a routing request or a data request is detected, the underwater node is correspondingly converted into a Discovery state or an Active state; and when the underwater node does not meet the routing condition, the Discovery state is transferred to the Sleeping state.
8. The energy-efficient sound-electricity cooperative transmission network routing system according to any one of claims 1 to 4, wherein the delay cost indicates a time elapsed from a transmission source node initiating a route request RREQ message to a corresponding destination node receiving a reply route reply RREP message, and the delay cost can reflect the quality of a network condition.
9. The energy-efficient sound-electricity cooperative transmission network routing system according to any one of claims 1 to 4, wherein when the destination node selects the optimal communication path, the method further comprises: and when a plurality of different routing communication paths have the same time delay cost, selecting the path with less hop number as the optimal communication path.
10. An energy-efficient sound and electricity cooperative transmission network routing method is realized based on the energy-efficient sound and electricity cooperative transmission network routing system of any one of claims 1 to 4, and is characterized by comprising the following steps:
s1, when the sending source node does not detect the route information reaching the destination node, the sending source node broadcasts a route request RREQ message to the surrounding nodes;
s2, after receiving the RREQ message sent by the sending source node, the surrounding nodes judge whether the RREQ message is a destination node, if yes, the RREQ message is the destination node, and the step goes to S3; if not, judging whether the node is suitable for forwarding the route request RREQ message, if so, the node is a relay node, and turning to the step S4; if not, directly discarding the RREQ message of the route request;
s3, the destination node selects the optimal communication path for different arrival paths with the minimum delay cost, returns a response message RREP to the sending source node according to the optimal communication path, and goes to the step S5; if the delay costs of different paths are the same, selecting the path with small hop number as the optimal communication path, returning a response message RREP to the sending source node according to the optimal communication path, and turning to the step S5;
s4, the relay node updates the RREQ message, and retransmits the updated RREQ message until the destination node is reached; specifically, the relay nodes comprise relay buoy nodes and relay underwater nodes, and if the relay buoy nodes are the relay buoy nodes, a priority radio forwarding mechanism is executed; if the node is a relay underwater node, the updated route request RREQ message is directly forwarded;
and S5, the transmission source node transmits data according to the optimal communication path and the destination node.
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