CN113708953B - Underwater acoustic sensor network anti-damage method based on node importance balance - Google Patents

Underwater acoustic sensor network anti-damage method based on node importance balance Download PDF

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CN113708953B
CN113708953B CN202110781051.2A CN202110781051A CN113708953B CN 113708953 B CN113708953 B CN 113708953B CN 202110781051 A CN202110781051 A CN 202110781051A CN 113708953 B CN113708953 B CN 113708953B
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申晓红
员一帆
何轲
王海燕
孙霖
马石磊
锁健
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Northwestern Polytechnical University
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Abstract

The invention provides an underwater acoustic sensor network anti-destruction method based on node importance balance, which is characterized in that the importance degree judgment criteria of all nodes in a network are counted, the importance degrees of all nodes in the network are evaluated, key nodes and non-key nodes are found out, a Sink node determines a node importance balance scheme according to the node importance degree identification result, a node importance balance control packet is broadcasted, and topology control and routing control are respectively executed to balance the importance degrees of the network nodes. The invention achieves the purpose of balancing the importance of all nodes in the network under the condition of minimum mobile energy consumption and network performance fluctuation by a method of combining topology control and routing control on the basis of evaluating the importance of each node in the network in a complex and changeable underwater environment which is easy to be attacked, and when the unknown attack, especially the selective attack, is faced, namely an attacker attacks according to the importance of the network nodes, the network has basic functions and shows extremely high survivability.

Description

Underwater acoustic sensor network anti-damage method based on node importance balance
Technical Field
The invention relates to the technical field of underwater acoustic sensor networks, in particular to an underwater acoustic sensor network survivable method for balancing the importance of network nodes through topology and route control.
Background
The underwater acoustic sensor network is a typical application of a wireless sensor network, can be used as an ideal medium in marine environment, can monitor a target sea area in a large range in real time, and has wide application prospects in the fields of marine resource survey, marine environment monitoring, sea area safety guarantee and the like.
The underwater acoustic sensor network is used as a wireless self-organizing network, has the characteristics of open transmission medium, cooperative algorithm among nodes, fuzzy defense boundary and the like, and is easy to be attacked by various attacks, such as Wormhole, Hello-Flood and Selective Forward attacks. Meanwhile, due to the characteristics of low transmission rate, high error rate, time delay, narrow bandwidth, high node energy consumption and the like of the underwater acoustic channel, the situation that a certain node cannot communicate or fails frequently exists in the network, so that the basic functions of the underwater acoustic sensor network are greatly threatened, and the network robustness cannot be guaranteed.
Aiming at the problems, many scholars at home and abroad propose different methods to improve the survivability of the network and ensure the basic functions of the network. Yang Junlong et al propose through avoiding the multipath routing method MRABKN of the key node, they have given a simple and effective method to survey the key node and avoid them, the simulation result shows that this method has very good performance on obtaining the disjoint path, can slow down the congestion of the key node effectively, have improved the reliability of the network. Gang Yan et al, by China, propose an effective path routing strategy, which does not search for the shortest path as in the shortest path routing algorithm, but instead searches for "effective paths", which are critical nodes that avoid congestion in the effective paths. Cun-Lai Pu and the like are improved on the basis of effective routing, an Active Routing (AR) strategy is provided, the AR strategy improves the cost function of a path P, and parameters such as the capacity of a simulation network and the size of cascade failure prove that the strategy is slightly better than the effective routing strategy in the aspect of defending the cascade failure of the network.
It can be seen from the above studies that different researchers aim at the identified "key node", and realize network load balancing by key node avoidance, "effective path", route optimization, network offloading, etc., thereby improving the congestion phenomenon of the key node. However, the above researches are all from the viewpoint of network load balancing, and do not consider the optimization problem of the capability of the network to resist attacks. Moreover, the above studies are analyzed based on network locality, and are not analyzed from the whole network. In practice, the overall state of the network has important referential significance on the survivability and the defense capability of the whole network.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an underwater acoustic sensor network anti-damage method based on node importance balance. In order to ensure the basic communication transmission function of the own underwater acoustic sensor network under the condition that the node fails or is subjected to unknown attack and improve the survivability of the own underwater acoustic sensor network, the underwater acoustic sensor network survivability technology based on node importance balance is provided. On the basis of identifying the importance of all nodes in the network, the invention balances the importance of all nodes in the network by combining topology control and routing control, thereby achieving the purpose that even if one or more nodes are attacked and fail, the basic functions of the whole network cannot be influenced, namely, at least one path for connecting the whole network exists.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
the first step is as follows: counting 7 importance evaluation criteria of all nodes in the network;
calculating 7 node importance criteria D (a), B (a), C (a), E (a), V (a), H (a), U (a);
the second step is that: evaluating the importance of all nodes in the network, and finding out key nodes and non-key nodes;
adopting TOPSIS (technique for Order Preference by Similarity to Ideal solution) multi-criterion evaluation algorithm to evaluate the importance f of all nodes in the network*And distinguishing key nodes V according to the importance of the nodes1And non-critical node V2Multiple criteria evaluation and key node V1And non-critical node V2The specific formula of (A) is as follows:
Figure BDA0003157117710000021
Figure BDA0003157117710000022
Figure BDA0003157117710000023
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003157117710000024
for all evaluated node importance f*Middle node vaNetwork importance of, V1The first 10% node in importance, V2Nodes which are the last 10% of the importance; TOPSIS represents that the TOPSIS multi-criterion evaluation algorithm is adopted to carry out multi-criterion fusion on the inputs D (a), B (a), E (a), V (a), H (a) and U (a) so as to finally obtain the importance degrees f of all nodes*(ii) a top 10% represents the nodes with the importance degrees of the first 10% in the sequence from big to small, last 10% represents the nodes with the importance degrees of the last 10% in the sequence from big to small;
the third step: the Sink node determines a node importance balance scheme according to the node importance recognition result;
for key node V1Classifying, judging whether a non-key node exists in the two-hop communication range of the key node according to the obtained hop count information h (a) of each node in the network, and if so, classifying the key node into a node V needing topology controlT(ii) a If not, the key node is divided into nodes V which need topology controlR(ii) a The specific mathematics are described as follows:
Figure BDA0003157117710000031
as can be seen from the above formula, if non-key nodes exist in the two-hop communication range of the key nodes, the key nodes are divided into the key nodes V which need to be subjected to topology controlTOtherwise, dividing the node into key nodes V needing to carry out routing controlR(ii) a Wherein V isTThe set of non-critical nodes in the corresponding two-hop communication range is defined as VL，VL∈V2And V isLAll nodes in the inner node are at VTWithin the two-hop communication range of the inner node, and the key node V is classifiedTAnd non-critical nodes V within its two-hop rangeLRecording the corresponding relation;
the fourth step: sink node broadcast node importance balance control packet
Classifying the result VT，VRNode information (location, node number) of (c) and all node importance evaluation result f*Inserting into the node importance balance control packet, and adding the non-critical nodes V near the critical node needing topology controlLPosition information of (2) and sum VTThe corresponding relations are inserted into the node importance balance control packet together and then broadcasted;
the fifth step: performing topology control to balance network node importance;
when V isLAfter receiving the node importance balance control packet, the non-key nodes in the packet control system balance control packet according to the corresponding key nodes V in the packetTMove itself to the corresponding key node VTWithin 10m of;
and a sixth step: performing routing control to balance network node importance
VRAfter receiving the node importance balance control packet, the key node in the network node (C) balances and controls the packet according to the f in the packet*Updating the node importance of the node, and then inhibiting the probability of the key node as a communication relay node by changing the retention time HT (holding time) after receiving the data packetThe importance of the key nodes is reduced, and the importance of the non-key nodes is improved.
In the first step, the specific calculation formulas of degree D (a), degree B (a), tightness C (a), feature vector centrality E (a), vulnerability V (a), jump distance H (a) and usage U (a) are as follows:
(1) the expression for the degree D (a) is:
Figure BDA0003157117710000032
in the formula
Figure BDA0003157117710000033
Wherein a, i represents a node vaAnd node viN represents the number of total nodes in the network, and V represents the set of all nodes in the network;
(2) the expression of betweenness b (a) is:
Figure BDA0003157117710000041
wherein P (i, j) is node viAnd vjThe shortest path number between P (i, a, j) is node viAnd vjBetween via node vaThe shortest path number of (2);
(3) the expression for the compactness C (a) is:
Figure BDA0003157117710000042
in the formula dajRepresenting a node vaAnd vjThe length of the shortest path between;
(4) the expression of the feature vector centrality e (a) is:
Figure BDA0003157117710000043
where λ is a constant satisfying the equation Mx λ x, and M is the adjacency matrix of the topological undirected graph, { x ═ x1，x2...，xnIs a feature vector;
(5) the expression for vulnerability V (i) is:
Figure BDA0003157117710000044
in the formula (I), the compound is shown in the specification,
Figure BDA0003157117710000045
is the global efficiency of the network, FiIs to remove node viAnd the network global efficiency behind all edges;
(6) the degree of use u (a) is expressed as:
Figure BDA0003157117710000046
in the formula (I), the compound is shown in the specification,
Figure BDA0003157117710000047
indicating node v in the t-last communicationaAs the number of times the communication node is used, N represents counting only the latest N communications;
(7) hop length h (a) expression is as follows:
H(a)＝h(a)-h(s)
wherein h(s) represents the hop number of the Sink node, and h (a) represents the node vaThe number of hops in which it is located.
In the sixth step, the specific calculation formula of HT is as follows:
Figure BDA0003157117710000051
in the formula: τ is R/c, R is the maximum transmission distance of the node, and c is the underwater sound propagation speed and is about 1500 m/s; delta d is the depth difference between the previous-hop node and the current node; f. ofi *Is a node viThe importance evaluation value of;
Figure BDA0003157117710000052
the minimum value of the importance of the nodes in the network;
Figure BDA0003157117710000053
the maximum value of the importance of the nodes in the network; when the value of delta is smaller, the HT of the node is longer, the nodes participating in data packet forwarding are fewer, the energy consumption is reduced, but the end-to-end delay is lengthened.
The underwater acoustic sensor network anti-damage method based on node importance balance has the advantages that under the complex and changeable underwater environment which is easy to attack, the purpose of balancing the importance of all nodes in the network can be achieved through a method combining topology control and routing control on the basis of evaluating the importance of each node in the network under the condition of minimum mobile energy consumption and network performance fluctuation. Therefore, when an unknown attack, particularly a selective attack, is faced, namely an attacker attacks according to the importance degree of network nodes, the network can also keep basic functions and shows extremely high survivability. Therefore, the invention not only improves the reliability of the underwater acoustic sensor network, but also promotes the application and development of network space safety in the underwater sensor network, and provides a technical basis for the development of the air-sea integrated network in China.
Drawings
FIG. 1 is a block diagram of the overall method of the present invention.
Fig. 2 is a schematic diagram of an underwater acoustic sensor network according to the present invention.
Fig. 3 is a schematic diagram of node importance equalization of the present invention, fig. 3(a) is a schematic diagram before importance equalization, and fig. 3(b) is a schematic diagram after importance equalization.
Fig. 4 is a network node scenario diagram of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
On the basis of identifying the importance of all nodes in the network, the invention provides a cross-layer underwater acoustic sensor network anti-destruction technology based on node importance balance by combining topology control and routing control based on the dispersion degree of the overall importance of the network.
The node importance balancing technology for the underwater sound sensor network is provided for solving the problems that the underwater sound sensor network is easy to fail and suffer from unknown attacks, so that the network is broken down.
Taking an EALR (Ethernet architecture language) layered opportunistic routing protocol widely used in the underwater acoustic sensor network as an example, the implementation scheme of the corresponding underwater acoustic sensor network survivability technology based on node importance balance is given as follows:
a Sink node underwater acoustic sensor network node scene based on an earr hierarchical opportunistic routing protocol is shown in fig. 2, and information transmission is performed between nodes by using acoustic signals. Wherein the Sink node is positioned at the topmost layer of the whole network, namely the node floating on the water surface. The node is responsible for receiving data transmitted by the underwater sensor network and summarizing and sending the data to the water console for further processing. And the node No. 1 is a Sink node and is distributed on the water surface. And the other nodes are common nodes and are distributed at positions of different depths underwater according to task requirements, and the common nodes send data to the Sink node according to self service requirements.
The specific implementation steps are as follows:
the first step is as follows: and counting and calculating 7 importance evaluation criteria of each node in the network by the Sink node No. 1.
In the network working process, when the underwater common nodes 2-27 transmit data packets, the node numbers, hop counts and position information (x _ position, y _ position) of the nodes are added into the data packets, and finally the data packets are collected to the Sink node No. 1. Therefore, the number 1 Sink node can be used as a destination node to acquire each communication path in the working process. Then, according to the obtained communication path, whether a path exists between any two points in the network is known; if the path exists, connecting the two nodes, otherwise, not connecting, and simultaneously calculating the length of each path according to the position information of the nodes to finally obtain a network topological graph;
after a network topological graph is obtained, 7 node importance degree evaluation criteria of degree, betweenness, compactness, feature vector centrality, vulnerability, use degree and hop count of each node in the network are calculated according to a formula by combining the communication times and hop count information of the node counted by the node No. 1:
the second step is that: the number 1 Sink node evaluates the importance of all nodes in the network and then identifies key nodes and non-key nodes.
And the No. 1 node statistically calculates 7 node importance evaluation criteria of degree, betweenness, compactness, feature vector centrality, vulnerability, use degree and hop count of each node in the network. Finally evaluating the importance f of all nodes in the network by adopting a TOPSIS multi-criterion evaluation algorithm according to the following formulai *. And finally, selecting the first 10 percent of nodes with the maximum importance as key nodes, and recording the key nodes as V1Selecting the last 10% node with the minimum importance as a non-key node and recording as V2。
Figure BDA0003157117710000061
Figure BDA0003157117710000062
Figure BDA0003157117710000071
The third step: and the number 1 Sink node determines a node importance balancing scheme according to the node importance recognition result.
And after the importance of the nodes in the network is obtained through evaluation and the key nodes and the non-key nodes are selected, the node 1 starts to determine the network node importance balance scheme. All key nodes are judged one by one, and whether non-key nodes exist in two communication ranges of the key nodes is judged firstly. If the topology exists, the key node is divided into key nodes needing topology control, and the key nodes are marked as VTAnd recording the nearest non-key node Va(wherein v isa∈V2) Node number (node _ number)And position information (x _ position, y _ position). If not, classifying the node as a key node needing routing control, and recording as VR。
Figure BDA0003157117710000072
The fourth step: broadcast node importance balance control packet for number 1 Sink node
Node 1 classifies result VT，VRNode information (position x _ position, y _ position, node number node _ number) of (a) and node importance degree evaluation result f*Inserting into the node importance balance control packet, and adding the non-critical nodes V near the critical node needing topology controlLPosition information of (2) and sum VTThe corresponding relationships are inserted into the package together and then broadcast out through underwater acoustic communication.
The fifth step: vLThe nodes in (1) perform topology control to balance network node importance
When V isLAfter receiving the node importance balance control packet broadcast by the node No. 1, the non-key nodes in the packet balance control packet according to the corresponding key nodes V in the packetTThen move itself to the corresponding key node VTNearby. Therefore, the communication load of the key nodes is shared, the importance of the key nodes is improved, and the importance of the key nodes is reduced.
And a sixth step: vRThe nodes in (1) perform routing control to balance network node importance
VRAfter receiving the importance balance control packet of node No. 1, the key node in the system is according to f in the packet*The value updates the node importance of itself. Then, the probability of the key node as a communication relay node is suppressed by changing the holding time HT (holding time) after each data packet is received, the importance of the key node is reduced, and the importance of the non-key node is improved. HT is calculated as follows:
Figure BDA0003157117710000073
in this network, δ is given as R/2. As can be seen from the above equation, when the node importance is larger, its calculated HT is larger. The longer the waiting time for forwarding after receiving the data packet. Therefore, the probability of communication of other nodes is increased, the communication opportunity of the nodes is reduced, and the importance of the network nodes is balanced.

Claims (3)

1. An underwater acoustic sensor network anti-destruction method based on node importance balance is characterized by comprising the following steps:
the first step is as follows: counting 7 importance evaluation criteria of all nodes in the network;
calculating 7 node importance criteria D (a), B (a), C (a), E (a), V (a), H (a), U (a);
the second step is that: evaluating the importance of all nodes in the network, and finding out key nodes and non-key nodes;
evaluating the importance f of all nodes in the network by adopting a TOPSIS multi-criterion evaluation algorithm*And distinguishing key nodes V according to the importance of the nodes1And non-critical node V2Multiple criteria evaluation and key node V1And non-critical node V2The specific formula of (A) is as follows:
Figure FDA0003641567380000011
Figure FDA0003641567380000012
Figure FDA0003641567380000013
wherein the content of the first and second substances,
Figure FDA0003641567380000014
for all evaluated node importance f*Middle node vaNetwork importance of, V1Is the first 10% node in importance, V2Nodes which are the last 10% of the importance; TOPSIS represents that the TOPSIS multi-criterion evaluation algorithm is adopted to carry out multi-criterion fusion on the inputs D (a), B (a), E (a), V (a), H (a) and U (a) so as to finally obtain the importance degrees f of all nodes*(ii) a top 10% represents the first 10% nodes in the descending order of the importance of all the nodes, last 10% represents the last 10% nodes in the descending order of the importance of all the nodes;
the third step: the Sink node determines a node importance balance scheme according to the node importance recognition result;
for key node V1Classifying, judging whether a non-key node exists in the two-hop communication range of the key node according to the obtained hop count information h (a) of each node in the network, and if so, classifying the key node into a node V needing topology controlT(ii) a If not, the key node is divided into nodes V which need to carry out routing controlR(ii) a The specific mathematics are described as follows:
Figure FDA0003641567380000015
wherein V isTThe set of non-critical nodes in the corresponding two-hop communication range is defined as VL，VL∈V2And V isLAll nodes in the inner node are at VTWithin the two-hop communication range of the inner node, and the key node V is classifiedTAnd non-critical nodes V within its two-hop rangeLRecording the corresponding relation;
the fourth step: sink node broadcast node importance balance control packet
Classifying the result VT，VRNode information of (2) and all-node importance degree evaluation result f*Insertion node importance balancingIn the control packet, non-critical nodes V near the critical nodes needing topology controlLPosition information of (1) and sum VTThe corresponding relations are inserted into the node importance balance control packet together and then broadcasted;
the fifth step: performing topology control to balance network node importance;
when V isLAfter receiving the node importance balance control packet, the non-key nodes in the packet control system control the non-key nodes according to the corresponding key nodes V in the packetTMove itself to the corresponding key node VTWithin 10m of;
and a sixth step: performing routing control to balance network node importance
VRAfter the key node in the system receives the node importance balance control packet, the key node in the system controls the packet according to the f in the packet*Updating the node importance of the node by the value, and then inhibiting the probability of the key node as a communication relay node by changing the retention time HT after receiving the data packet, reducing the importance of the key node and improving the importance of the non-key node.
2. The method for survivability of underwater acoustic sensor network based on node importance equalization according to claim 1, characterized in that:
in the first step, the specific calculation formulas of the degree D (a), the medium B (a), the compactness C (a), the feature vector centrality E (a), the vulnerability V (a), the jump distance H (a) and the usage U (a) are as follows:
(1) the expression for the degree D (a) is:
Figure FDA0003641567380000021
in the formula
Figure FDA0003641567380000022
Wherein a, i represents a node vaAnd node viN represents the number of total nodes in the network, and V represents the set of all nodes in the network;
(2) the expression of the betweenness B (a) is:
Figure FDA0003641567380000023
wherein P (i, j) is node viAnd vjThe shortest path number between P (i, a, j) is node viAnd vjBetween via node vaThe shortest path number of (2);
(3) the expression for the compactness C (a) is:
Figure FDA0003641567380000024
in the formula dajRepresenting a node vaAnd vjThe length of the shortest path between;
(4) the expression of the feature vector centrality e (a) is:
Figure FDA0003641567380000031
where λ is a constant satisfying the equation Mx λ x, and M is the adjacency matrix of the topological undirected graph, { x ═ x1，x2...，xnIs a feature vector;
(5) the expression for vulnerability V (i) is:
Figure FDA0003641567380000032
in the formula (I), the compound is shown in the specification,
Figure FDA0003641567380000033
is the global efficiency of the network, FiIs to remove node viAnd the network global efficiency behind all edges;
(6) the degree of use u (a) is expressed as:
Figure FDA0003641567380000034
in the formula (I), the compound is shown in the specification,
Figure FDA0003641567380000035
indicating that node v is in the t-last communicationaAs the number of times the communication node is used, N represents counting only the latest N communications;
(7) hop length h (a) expression is as follows:
H(a)＝h(a)-h(s)
wherein h(s) represents the hop number of the Sink node, and h (a) represents the node vaThe number of hops it is in.
3. The node importance balancing-based underwater acoustic sensor network survivability method according to claim 1, characterized in that:
in the sixth step, the specific calculation formula of HT is as follows:
Figure FDA0003641567380000036
in the formula: τ is equal to R/c, R is the maximum transmission distance of the node, c is the underwater sound propagation speed, and Δ d is the depth difference between the previous-hop node and the current node; f. ofi *Is a node viThe importance evaluation value of;
Figure FDA0003641567380000037
the minimum value of the importance of the nodes in the network;
Figure FDA0003641567380000038
the maximum value of the importance of the nodes in the network; δ is a variable that can be adjusted.
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