CN115103318B - Multi-node online monitoring method and system - Google Patents
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Abstract
The invention discloses a multi-node online monitoring method and a multi-node online monitoring system. The multi-node online monitoring method determines the position coordinates of the floating part of the monitoring node according to the receiving time of the positioning broadcast, and estimates the position coordinates of the anchoring part of the monitoring node according to the position coordinates of the floating part. The present invention generates a plurality of node sets each including one beacon node and a plurality of monitoring nodes based on position coordinates of an anchor. The controller sends a control signal to the monitoring nodes along a communication link of the node set, the monitoring part periodically obtains water quality data, and the communication part reports the water quality data to the controller along the communication link. The position coordinates of the anchor part divide the node set, and the nodes are not required to measure the channel quality frequently to determine the networking area. The on-line monitoring system mainly comprises a controller, a plurality of beacon nodes positioned on the surface of a water area to be monitored and a plurality of monitoring nodes positioned in the water area to be monitored.
Description
Technical Field
The invention relates to a remote monitoring technology, in particular to a multi-node online monitoring method and a multi-node online monitoring system.
Background
The existing water monitoring system can refer to the monitoring system based on the Zigbee wireless sensor network of CN 202010731842X. The system arranges terminal nodes in a detection area, and the terminal nodes are used for detecting water quality data. The system adopts a fixed data transceiving network, and the fixed data transceiving network is easy to cause overhigh power consumption for a multi-node monitoring environment with an unfixed position. The self-adaptive networking scheme of the underwater multi-monitoring-node network is as described in 'underwater acoustic communication sensor network organization planning and multi-rate transmission technology research', 'wireless sensor network gateway design for water environment monitoring', and the like. The nodes are divided into underwater nodes and surface nodes, wherein the underwater nodes adopt underwater acoustic communication, and the surface nodes adopt radio communication. The underwater acoustic communication has better anti-interference capability in an underwater space. In order to obtain the optimal network performance, the optimal position of the water surface gateway is found through a clustering algorithm, and a route enabling the network performance to be optimal is obtained. The scheme searches the optimal route in a more general range, and the clustering efficiency is low.
Disclosure of Invention
Aiming at the problems, the invention provides a multi-node online monitoring method and a multi-node online monitoring system, which improve the efficiency of clustering and networking by estimating the position coordinates of nodes and realize the low-power consumption real-time uploading of multi-node monitoring data.
The invention purpose of the application can be realized by the following technical scheme:
a multi-node online monitoring method comprises the following steps:
step 1: arranging a plurality of monitoring nodes in a water area to be monitored, wherein each monitoring node comprises an anchoring part, a floating part, a monitoring part and a communication part, the monitoring part and the communication part are fixed in the floating part, and the floating part is connected with the anchoring part positioned at the bottom of the water through a flexible connecting part;
step 2: arranging a plurality of beacon nodes on the surface of a water area to be monitored, acquiring the position coordinates of any beacon node by a controller, and generating a random link comprising the beacon nodes and monitoring nodes by the controller;
and 3, step 3: the method comprises the following steps that a plurality of beacon nodes issue a plurality of positioning broadcasts, and monitoring nodes receive the positioning broadcasts and store the receiving time of the positioning broadcasts;
and 4, step 4: the controller determines the position coordinates of the floating part of the monitoring node according to the receiving time of the positioning broadcast, and estimates the position coordinates of the anchoring part of the monitoring node according to the position coordinates of the floating part;
and 5: the controller generates a plurality of node sets based on the position coordinates of the anchor part, wherein each node set comprises a beacon node and a plurality of monitoring nodes;
step 6: the controller generates a communication link of the node set based on the position coordinates of the floating part, one monitoring node of the node set is a cluster head node, and at least one monitoring node is a non-cluster head node;
and 7: the controller sends a control signal to the monitoring node along the communication link, the monitoring part periodically obtains at least one item of water quality data, and the communication part reports the water quality data to the controller along the communication link;
and 8: every second communication period, the beacon nodes re-release the positioning broadcast, and the controller re-determines the position coordinates of the floating part and the anchoring part and returns to the step 5;
and step 9: every interval of a first communication period smaller than the second communication period, the plurality of beacon nodes reissues the positioning broadcast, and the controller re-determines the position coordinates of the float and returns to step 6.
In the invention, the non-cluster head node reports the water quality data to the cluster head node, and the cluster head node sends the water quality data measured by the cluster head node and the water quality data reported by the non-cluster head node to the beacon node.
In the invention, the controller determines the position coordinates of the beacon nodes through a GPS communication network, and the beacon nodes issue positioning broadcast to underwater areas through an underwater acoustic communication network.
In the invention, in the first communication period t, the controller determines the distances d between the floating part and the m beacon nodes according to the receiving time of the positioning broadcast1、d2、d3...dmAccording to the distance d1、d2、d3...dmAnd the position coordinates of the beacon node determining the position coordinates (x) of the float in the first communication cyclet,yt,zt)。
In the present invention, the position coordinates of the floating portion in the first communication periods t-2, t-1, t are (x) respectivelyt-2,yt-2,zt-2)、(xt-1,yt-1,zt-1) And (x)t,yt,zt) The controller predicts the position coordinates (x, y, z) of the anchor part from the length R of the flexible connecting part.
In the present invention, in step 5, a node set corresponding to the beacon node one to one is set, and an arbitrary monitoring node is incorporated into the node set of the beacon node according to the distance between the anchor and the beacon node.
In the invention, in step 6, the monitoring node i reports the residual energy E to the controlleriThe controller monitors the residual energy E of the node iiDistance L from beacon nodes in node seti0And distance L from other monitoring nodes jijAnd determining a relay weight value W of the monitoring node, wherein the monitoring node with the maximum relay weight value in the same node set is marked as a cluster head node of the node set.
In the present invention, the second communication period is an integer multiple of the first communication period.
An on-line monitoring system based on the multi-node on-line monitoring method is mainly composed of a controller, a plurality of beacon nodes positioned on the surface of a water area to be monitored and a plurality of monitoring nodes positioned in the water area to be monitored, wherein at least one beacon node and one monitoring node form a random link or a communication link, and the monitoring nodes report signal intensity and water quality data of positioning broadcast through the random link or the communication link.
The multi-node online monitoring method and the system have the following beneficial effects: because the position coordinates of the anchoring part are relatively fixed, the node set is divided based on the position coordinates of the anchoring part, the nodes are not required to frequently measure the channel quality to determine the networking area, and the energy consumption of node networking is reduced. And the rest energy of the nodes is considered in the networking process, so that the service life of the system is prolonged. The invention determines the position coordinate of the floating part through the beacon node, and then estimates the position coordinate of the anchoring part through the floating part, thereby solving the problem that the position coordinate of the anchoring part is difficult to measure through a GPS in the prior art. In view of the fact that the accuracy of distance data is limited due to large errors of underwater acoustic communication, the controller estimates the position coordinates of the floating part through the minimum error matrix, high-accuracy distance data are not needed, and the fault-tolerant capability of the system is improved.
Drawings
FIG. 1 is a flow chart of a multi-node online monitoring method of the present invention;
FIG. 2 is a schematic diagram of the usage environment of the multi-node online monitoring method of the present invention;
FIG. 3 is a preferred schematic diagram of a monitoring node of the present invention;
FIG. 4 is a schematic diagram of the present invention predicting the location coordinates of an anchor;
FIG. 5 is a schematic diagram of a communication link of the present invention, wherein the dashed arrows indicate underwater acoustic communication directions and the solid arrows indicate wireless communication directions;
fig. 6 is a schematic diagram of a communication process of the present invention, in which a dotted arrow is a handshake signal and a solid arrow is a water quality parameter signal;
FIG. 7 is a block diagram of a multi-node online monitoring system of the present invention;
fig. 8 is a preferred block diagram of a beacon of the present invention;
fig. 9 is a preferred block diagram of the monitoring node of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example one
The multi-node online monitoring method of the invention as shown in fig. 1 to 6 is used for water quality detection of rivers and lakes. A plurality of monitoring nodes are non-uniformly arranged in rivers and lakes, and online detection is realized by extracting water quality data of the monitoring nodes. Because the position coordinates of the monitoring nodes are not fixed, communication links of the monitoring nodes need to be periodically monitored so as to improve the channel quality and reduce the power consumption. The invention improves the efficiency of clustering and networking by estimating the position coordinates of the nodes and realizes the low-power consumption real-time uploading of multi-node monitoring data. The multi-node online monitoring method comprises the following steps.
Step 1: a plurality of monitoring nodes are arranged in a water area to be monitored, and each monitoring node comprises an anchoring part 1, a floating part 2, a monitoring part 3 and a communication part 4. The monitoring nodes are typically non-uniformly arranged in the monitored body of water, the anchoring portion being located at the bottom of the monitored body of water, the monitoring portion and the communication portion being secured in a floating portion which is connected to the anchoring portion at the bottom of the water via a flexible connection. Under the action of the water flow, the floating part will move over the anchoring part. The average density of the floating part is lower than that of the carrier water area, the floating part can be kept in the middle of the water area, and the water quality states of different water layers can be monitored by adjusting the length of the flexible connecting part 5. The structure of the monitoring node is referred to section 3.3.1 of "design of architecture and key technology research of Software Defined Network (SDN) of underwater sensor network". The monitoring section includes, for example, a temperature sensor, a salinity sensor, an image sensor, and the like. The communication unit is, for example, an underwater acoustic signal transceiver to realize short-range relay communication.
Step 2: the method comprises the steps that a plurality of beacon nodes are arranged on the surface of a water area to be monitored, a controller obtains position coordinates of any beacon node, and the controller generates a random link comprising the beacon nodes and monitoring nodes. In this embodiment, the beacon node is fixedly installed in a shallow water area, and the controller may determine the position coordinates of the beacon node through a GPS communication network. In another embodiment, the beacon node floats on the surface of the body of water to be monitored. In the system initialization process, the beacon nodes and the monitoring nodes form a random link. For example, each monitoring node sends information of competing cluster heads to nearby beacon nodes, the beacon nodes randomly select one monitoring node as a random cluster head, and the monitoring node serves as a cluster head node to receive data of other nearby nodes. The random link is mainly used for receiving and transmitting initial data, and because an optimal link is not selected, the signal interference of the random link is large, and the power consumption is high.
And step 3: the beacon nodes issue a plurality of positioning broadcasts, and the monitoring nodes receive the positioning broadcasts and store the receiving time of the positioning broadcasts. The underwater acoustic communicator is positioned at the bottom of the beacon node and issues positioning broadcast to the underwater area through an underwater acoustic communication network. In the initialization phase, the beacon node locates the broadcast every other time for an issuing period, for example, 1 day (first communication period). The monitoring node stores the receiving time of the positioning broadcast and feeds the receiving time back to the controller through the random link. Because the monitoring part may move along with the water flow, the positions of the monitoring parts in different periods are different, and the receiving time of the corresponding positioning broadcast is different.
And 4, step 4: the controller determines the position coordinates of the floating part of the monitoring node according to the receiving time of the positioning broadcast, and estimates the position coordinates of the anchoring part of the monitoring node according to the position coordinates of the floating part.
The time of the positioning broadcast received by the communication unit of the monitoring node varies with the distance due to the difference in the transmission and reception of the channel. The distance between the floating part and the beacon node can be determined through the transceiving time difference. For example, in the first communication period t, the floating part receives the positioning broadcast of m beacon nodes, and the controller can determine the distance d between the floating part and 3 beacon nodes according to the positioning broadcast1、d2、d3. The algorithm process refers to the mobile underwater acoustic network self-positioning method based on dynamic reference node selection in CN201910423140.2, which is not described herein again.
According to the triangulation algorithm, the distance between a known node and three known coordinates can determine the position of the node. The controller is based on the distance d1、d2、d3And the position coordinates of the beacon node determining the position coordinates (x) of the float in the first communication cyclet,yt,zt). Detailed specification of nodesThe bit algorithm can be referred to as the research on the problems of the ocean monitoring wireless sensor network.
Under the action of water flow, the floating part moves around the anchoring part, and the position coordinates of the floating part in different first communication periods are changed. Referring to fig. 4, knowing the position coordinates of the float for at least three first communication cycles may determine the position coordinates of the anchor. The position coordinates of the floating part in the first communication periods t-2, t-1 and t are respectively (x)t-2,yt-2,zt-2)、(xt-1,yt-1,zt-1) And (x)t,yt,zt) The first communication cycle t-1 is a cycle before the first communication cycle t, and the first communication cycle t-2 is two cycles before the first communication cycle t. According to a triangulation algorithm, the controller estimates the position coordinates (x, y, z) of the anchor from the length R of the flexible connection. Wherein,
and R is the length of the flexible connecting part.
And 5: the controller generates a plurality of node sets each including one beacon node and a plurality of monitoring nodes based on the position coordinates of the anchor. Since the position coordinates of the anchor portions are relatively fixed, the present invention segments the node set based on the position coordinates of the anchor portions. And setting a node set corresponding to the beacon nodes one by one, and bringing any monitoring node into the node set of the beacon nodes according to the distance between the anchor part and the beacon nodes, namely bringing the monitoring node into the nearest monitoring node. In another embodiment, the length of the flexible connection portion is taken into consideration, the center position of the monitoring portion is estimated (the position where the flexible connection portion is vertical is the center position), and the monitoring node is included in the node set of the beacon node according to the distance between the center position and the beacon node. The node set can estimate the networking area without the need for the nodes to frequently measure the channel quality to determine the networking area.
Step 6: the controller generates a communication link of the node set based on the position coordinates of the floating portion, one monitoring node of the node set is a cluster head node, and the plurality of monitoring nodes are non-cluster head nodes. The node set determines a networking range, in order to keep low-power-consumption operation of the device, the beacon node cannot receive signals of all monitoring nodes at the same time, a cluster head node of the networking range needs to be further determined, and the cluster head node receives signals of other nodes in the node set and reports the signals to the beacon node. The common node is connected with the cluster head node, the beacon node and the controller in sequence to form a complete communication link. For example, in fig. 5, the non-cluster-head node reports the water quality data to the cluster-head node, and the cluster-head node reports the water quality data measured by the cluster-head node and the water quality data reported by the non-cluster-head node to the beacon node. The embodiment does not limit the method for determining the cluster head node, and the cluster head node may be determined by a recommendation method, an ant colony iteration method, or the like.
And 7: the controller sends a control signal to the monitoring node along the communication link, the monitoring part obtains at least one item of water quality data, and the communication part reports the water quality data to the controller along the communication link. And deleting the original random link after the communication link is established. The detection system begins to report the water quality data at regular time. The present invention may be arranged with different sensors to measure various parameters of the water area including, but not limited to: temperature, salinity, ocean current direction, and the content of specific substances, etc.
And 8: every interval of one second communication cycle, the plurality of beacon nodes reissues the positioning broadcast, and the controller re-determines the position coordinates of the floating portion and the position coordinates of the anchor portion, and returns to step 5. In order to reduce the power consumption of the monitoring nodes, after a longer second communication period, the node set is determined again by considering the change of the position coordinates of the anchoring part, and then networking is performed again.
And step 9: every interval of a first communication period smaller than the second communication period, the plurality of beacon nodes reissues the positioning broadcast, and the controller re-determines the position coordinates of the float and returns to step 6. Due to the fact that the position coordinate of the floating part changes along with underwater ocean currents and the residual energy consumption of the nodes is different, the power consumption of an original link network is increased or the residual energy of the cluster head nodes is too low, and the floating part is not suitable for continuously bearing signal forwarding work. And the beacon nodes are networked again, and low-power-consumption data receiving and sending under the current condition are searched. The second communication period is typically an integer multiple of the first communication period, which is, for example, 7 days, and the second communication period is, for example, 21 days.
Example two
The triangulation algorithm requires that three circles with the circle of the beacon node and the distance d as the radius intersect at one point. Considering that the water area environment is complex, the underwater acoustic communication delay is high, and the distance d between the beacon node and the monitoring node is measured through the signal transceiving time difference, so that the distance d is difficult to intersect at one point in an actual case. Considering that the number of the beacon nodes is usually more than three, the present embodiment adopts a minimum error matrix to estimate the position of the floating part, does not need high-precision distance data, and improves the fault-tolerant capability of the system.
The position coordinates of the beacon nodes 1, 2 and 3.. M determined by the controller are respectively (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)...(xm,ym,zm). The position coordinate of the floating part of the monitoring node at the time t is (x)t,yt,zt). Defining a likelihood matrix
，
，
. Wherein
，
...
，d1、d2、d3...dmRespectively monitoring nodes at time tDistance of the float from the beacon node 1, 2, 3. By the formula
The unknown quantity x can be obtainedt、yt、zt。
EXAMPLE III
In order to realize long-time online work of the monitoring node, the selection of the cluster head in the embodiment can be further improved according to the invention. The monitoring node i reports the residual energy E to the controlleriThe controller monitors the residual energy E of the node iiDistance L from beacon nodes in node seti0And distance L from other monitoring nodes jijAnd determining the relay weight value W of the monitoring node.
N is the number of monitoring nodes in the node set, Lii=0，EmaxAnd monitoring the maximum residual energy of the nodes in the node set. The distance between the monitoring node i and the beacon node is Li0α, β are the channel quality weight and the remaining energy consumption weight, respectively, α + β =1, e.g., α =0.6, β =0.4. And the controller marks the monitoring node with the maximum relay weight value in the same node set as a cluster head node of the node set.
Example four
The online monitoring system of the invention as shown in fig. 7 to 9 is used for implementing the river and lake online monitoring method of the embodiment. The on-line monitoring system mainly comprises a controller, a plurality of beacon nodes positioned on the surface of a water area to be monitored and a plurality of monitoring nodes positioned in the water area to be monitored. The controller is located in a shore control room, the controller is connected with the beacon nodes through a cellular communication network, and the controller can store the position coordinates of the fixed beacon nodes in advance or measure the position coordinates of the beacon nodes through a GPS communication network.
The controller is, for example, a general purpose computer with a wireless transceiver, installed in a surface vessel or in a land control room. The controller generally includes a storage unit and an arithmetic unit. The storage unit can store initial data related to the beacon nodes and the monitoring nodes and networking data of the wsn network, and the operation unit is used for calculating position coordinates of the floating parts and the anchoring parts of the monitoring nodes. And the beacon node and the monitoring node form a wsn network. In the initialization stage, the beacon node and the monitoring node form a random link, the monitoring node reports the signal intensity of the positioning broadcast through the random link, and determines a communication link according to the positioning broadcast. The beacon nodes and the monitoring node groups report the water quality parameters through the communication link, and the communication link is periodically adjusted. The structure of the beacon node is shown in fig. 8, and the beacon node comprises a central processing unit, a storage module, a transduction module, a GPS module, an antenna, a clock, a power supply module, a sonar and the like. The transducer module is used for converting the electric signal into an underwater sound signal of the positioning broadcast, the antenna is used for communicating with the controller, and the clock is used for measuring the distribution time stamp of the positioning broadcast. The monitoring node has a structure as shown in fig. 9, and includes a microprocessor, a memory module, a communication unit, a monitoring unit, a memory unit, a clock, a battery, and the like. The communication part realizes communication with the beacon node, the communication part can realize A/D conversion of data through a data conversion part, and the monitoring part is used for example as a PH value sensor, a temperature sensor and the like. The clock is used to measure the receive timestamp of the positioning broadcast.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A multi-node online monitoring method is characterized by comprising the following steps:
step 1: arranging a plurality of monitoring nodes in a water area to be monitored, wherein each monitoring node comprises an anchoring part, a floating part, a monitoring part and a communication part, the monitoring part and the communication part are fixed in the floating part, and the floating part is connected with the anchoring part positioned at the bottom of the water through a flexible connecting part;
step 2: arranging a plurality of beacon nodes on the surface of a water area to be monitored, acquiring the position coordinates of any beacon node by a controller, and generating a random link comprising the beacon nodes and monitoring nodes by the controller;
and 3, step 3: the method comprises the following steps that a plurality of beacon nodes issue a plurality of positioning broadcasts, and monitoring nodes receive the positioning broadcasts and store the receiving time of the positioning broadcasts;
and 4, step 4: the controller determines the position coordinates of the floating part of the monitoring node according to the receiving time of the positioning broadcast, and estimates the position coordinates of the anchoring part of the monitoring node according to the position coordinates of the floating part;
and 5: the controller generates a plurality of node sets based on the position coordinates of the anchor portion, each node set including one beacon node and a plurality of monitoring nodes;
step 6: the controller generates a communication link of the node set based on the position coordinates of the floating part, one monitoring node of the node set is a cluster head node, and at least one monitoring node is a non-cluster head node;
and 7: the controller sends a control signal to the monitoring node along the communication link, the monitoring part periodically obtains at least one item of water quality data, and the communication part reports the water quality data to the controller along the communication link;
and 8: every second communication period, the beacon nodes reissue the positioning broadcast, and the controller re-determines the position coordinates of the floating part and the position coordinates of the anchoring part and returns to the step 5;
and step 9: every interval of a first communication period smaller than the second communication period, the plurality of beacon nodes reissues the positioning broadcast, and the controller re-determines the position coordinates of the float and returns to step 6.
2. The multi-node online monitoring method according to claim 1, wherein the non-cluster-head node reports the water quality data to the cluster-head node, and the cluster-head node sends the water quality data measured by the cluster-head node and the water quality data reported by the non-cluster-head node to the beacon node.
3. The multi-node online monitoring method according to claim 1, wherein the controller determines the position coordinates of the beacon node through a GPS communication network, and the beacon node issues a positioning broadcast to the underwater area through an underwater acoustic communication network.
4. The multi-node online monitoring method according to claim 1, wherein in the first communication cycle t, the controller determines distances d between the floating part and the m beacon nodes according to the receiving time of the positioning broadcast1、d2、d3...dmAccording to the distance d1、d2、d3...dmAnd the position coordinates of the beacon node determining the position coordinates (x) of the float in the first communication cyclet,yt,zt)。
5. The multi-node online monitoring method according to claim 4, wherein the position coordinates of the floating portion in the first communication periods t-2, t-1 and t are (x) respectivelyt-2,yt-2,zt-2)、(xt-1,yt-1,zt-1) And (x)t,yt,zt) The controller predicts the position coordinates (x, y, z) of the anchor portion from the length R of the flexible connecting portion.
6. The multi-node online monitoring method according to claim 1, wherein in step 5, node sets corresponding to the beacon nodes one to one are provided, and any monitoring node is incorporated into the node set of the beacon node according to a distance between the anchor and the beacon node.
7. The multi-node online monitoring method according to claim 6, wherein in step 6, the monitoring node i reports the remaining energy E to the controlleriThe controller monitors the residual energy E of the node iiDistance L from beacon nodes in node seti0And distance L from other monitoring nodes jijAnd determining a relay weight value W of the monitoring node, wherein the monitoring node with the maximum relay weight value in the same node set is marked as a cluster head node of the node set.
8. The multi-node online monitoring method according to claim 1, wherein the second communication period is an integer multiple of the first communication period.
9. An on-line monitoring system of the multi-node on-line monitoring method according to claim 1, which is mainly composed of a controller, a plurality of beacon nodes located on the surface of a water area to be monitored, and a plurality of monitoring nodes located in the water area to be monitored, wherein at least one beacon node and a monitoring node form a random link or a communication link, and the monitoring node reports the signal intensity and water quality data of positioning broadcast through the random link or the communication link.
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