CN117807469B - Underwater sensor data acquisition method, medium and system - Google Patents
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Abstract
The invention provides a method, a medium and a system for acquiring data of an underwater sensor, which belong to the technical field of underwater sensors and comprise the following steps: acquiring coordinates of a plurality of underwater sensors and data acquired in real time, and preprocessing the coordinates and the data to obtain preprocessed data; processing the preprocessed data by adopting a random matrix to obtain a high-order matrix; extracting features of the high-order matrix by adopting a sliding window to obtain a feature matrix; clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers, wherein the number of the clustering centers is smaller than that of the underwater sensors; calculating a sensor to be reduced, and transmitting a newly added underwater sensor coordinate set to an operation and maintenance person; data was collected again. The method solves the technical problems that the acquisition range is small or the acquisition precision is insufficient due to too little sensor deployment because the sensor deployment relies on manual experience in the current underwater sensor data acquisition process.
Description
Technical Field
The invention belongs to the technical field of underwater sensors, and particularly relates to an underwater sensor data acquisition method, medium and system.
Background
An underwater sensor is a device specifically designed for underwater monitoring and plays an important role in many fields. For example, they may be used in the fields of marine research, environmental monitoring, aquaculture, underwater archaeology, oil exploitation, etc. The main functions of the underwater sensor include measuring water temperature, water pressure, water flow speed, water flow direction, chemical components of water (such as dissolved oxygen, pH value, salinity and the like), the number and distribution of underwater organisms (such as fish, plankton and the like), underwater topography, the condition of underwater structures and the like. At present, the arrangement of the underwater sensor network mainly relies on expert experience to carry out manual arrangement, and the manual experience method has the following problems that monitoring blind areas are easily caused by the manual arrangement, some important areas cannot be well covered, and the monitoring data are inaccurate. The resource waste phenomenon exists, too many redundant sensors are distributed in the areas with low importance, and the system cost is increased. That is, in the process of acquiring underwater sensor data in the prior art, manual experience is generally relied on for deploying the sensor underwater, so that the technical problems that the sensor deployment is denser, the acquisition range is small, or the acquisition precision is insufficient are caused.
Disclosure of Invention
In view of the above, the invention provides a method, medium and system for acquiring underwater sensor data, which can solve the technical problems that the existing sensors are densely deployed to cause a small acquisition range or too few to cause insufficient acquisition precision due to the fact that the underwater deployment sensors generally depend on manual experience in the current underwater sensor data acquisition process.
The invention is realized in the following way:
the first aspect of the invention provides an underwater sensor data acquisition method, which comprises the following steps:
s10, acquiring coordinates of a plurality of underwater sensors and data acquired in real time, wherein the coordinates, the water temperature and the salinity are included;
S20, preprocessing the acquired data to obtain preprocessed data;
S30, processing the preprocessed data by adopting a random matrix to obtain a high-order matrix;
s40, carrying out feature extraction on the high-order matrix by adopting a sliding window to obtain a feature matrix;
S50, clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers, wherein the number of the clustering centers is smaller than that of the underwater sensors;
S60, comparing the clustering degree of each feature matrix with the clustering center corresponding to the feature matrix, and if the clustering degree is larger than the preset threshold upper limit, marking the underwater sensor corresponding to the feature matrix as a sensor to be reduced; if the clustering degree is smaller than the preset threshold lower limit, searching M optimal coordinates by adopting an interpolation method according to the coordinates of a plurality of underwater sensors corresponding to the clustering center, wherein M is larger than or equal to 1, and the M is used as a coordinate set of the newly added underwater sensor;
S70, sending the sensor to be reduced and the newly added underwater sensor coordinate set to operation and maintenance personnel;
And S80, the personnel to be operated and maintained adjusts the deployment of the underwater sensors according to the sensors to be reduced and the newly added underwater sensor coordinate set, and then re-acquires the data acquired by the plurality of underwater sensors in real time and sends the data to the personnel to be operated and maintained.
On the basis of the technical scheme, the underwater sensor data acquisition method can be further improved as follows:
The method for acquiring coordinates of a plurality of underwater sensors and data acquired in real time comprises the following steps of: according to the deployment position of the underwater sensor, the space coordinate of each sensor is recorded in advance; each underwater sensor collects water quality data of the current position at a certain time interval, including water temperature and salinity; and matching the space coordinates of each sensor with water quality data of corresponding time points to form a data set.
The step of preprocessing the collected data to obtain preprocessed data specifically comprises the following steps: detecting whether the data of each sensor is in a normal range, and removing errors and outlier data; for data which are not read by the individual sensors due to equipment faults, carrying out spatial interpolation calculation by the readings of the adjacent sensors, and filling the missing data; carrying out time series smoothing filtering on the data of each sensor to remove measurement noise; the water temperature and salinity data are normalized and mapped to between 0 and 1.
The step of processing the preprocessed data by adopting a random matrix to obtain a high-order matrix specifically comprises the following steps: constructing an m×n random matrix, wherein m is the time sequence length and n is the sensor number; performing matrix dot product operation on the preprocessed data set and the random matrix to obtain an m multiplied by n high-order matrix; repeating the above process for multiple times to obtain multiple groups of high-order matrixes, and splicing the high-order matrixes on a third dimension to form a three-dimensional matrix.
The step of extracting features of the high-order matrix by adopting a sliding window to obtain a feature matrix specifically comprises the following steps: setting the size of a sliding window; extracting statistical features from the data of each window; and repeating the process to finally obtain the statistical characteristics of each sensor on each time window.
The step of clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers specifically comprises the following steps: splicing the feature matrixes of all the sensors together, and carrying out a K-Means clustering algorithm; setting the number k of the clustering centers as a certain proportion of the total number of the sensors; and after the K-Means clustering iteration converges, K clustering centers and class clusters corresponding to the centers are obtained.
The step of comparing the clustering degree of each feature matrix and the corresponding clustering center to judge the sensors to be reduced and increased specifically comprises the following steps: calculating the Euclidean distance between each sensor feature matrix and the corresponding clustering center; setting a clustering degree threshold value, and if the distance is larger than the upper threshold value limit, marking the sensor as to-be-reduced; if the distance is smaller than the threshold lower limit, marking a sensor needing to be newly added in the cluster; and for the sensor needing to be newly added, calculating a new coordinate point by adopting an inverse distance interpolation method to serve as a newly added sensor point.
Further, the upper limit of the predetermined threshold is 0.8, and the lower limit is 0.4.
A second aspect of the present invention provides a computer readable storage medium, wherein the computer readable storage medium stores program instructions, and the program instructions are used to execute the underwater sensor data acquisition method.
A third aspect of the present invention provides an underwater sensor data acquisition system comprising the computer readable storage medium described above.
Compared with the prior art, the underwater sensor data acquisition method, medium and system provided by the invention have the beneficial effects that: redundant sensors in the densely distributed areas can be intelligently identified, the number of the sensors is reduced, and resources are effectively saved. The monitoring leak area can be intelligently found, the position of the newly added sensor is prompted, and the monitoring coverage is improved. The network layout can be continuously optimized according to the water environment change, rather than single static layout. The method solves the technical problems that in the current underwater sensor data acquisition process, sensors are deployed under water generally by means of manual experience, so that the acquisition range is small or too small due to the fact that sensors are deployed more densely, and the acquisition precision is insufficient.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
As shown in fig. 1, a flowchart of a method for collecting underwater sensor data according to a first aspect of the present invention is provided, the method includes the following steps:
s10, acquiring coordinates and real-time acquired data of a plurality of underwater sensors, including coordinates, water temperature and salinity, wherein the underwater sensors are underwater sensors of a salt depth meter;
S20, preprocessing the acquired data to obtain preprocessed data;
S30, processing the preprocessed data by adopting a random matrix to obtain a high-order matrix;
s40, carrying out feature extraction on the high-order matrix by adopting a sliding window to obtain a feature matrix;
s50, clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers, wherein the number of the clustering centers is smaller than that of the underwater sensors;
S60, comparing the clustering degree of each feature matrix with the clustering center corresponding to the feature matrix, and if the clustering degree is larger than the preset threshold upper limit, marking the underwater sensor corresponding to the feature matrix as a sensor to be reduced; if the clustering degree is smaller than the preset threshold lower limit, searching M optimal coordinates by adopting an interpolation method according to the coordinates of a plurality of underwater sensors corresponding to the clustering center, wherein M is larger than or equal to 1, and the preset threshold upper limit is 0.8 and the preset threshold lower limit is 0.4;
S70, sending the sensor to be reduced and the newly added underwater sensor coordinate set to operation and maintenance personnel;
And S80, the personnel to be operated and maintained adjusts the deployment of the underwater sensors according to the sensors to be reduced and the newly added underwater sensor coordinate set, and then re-acquires the data acquired by the plurality of underwater sensors in real time and sends the data to the personnel to be operated and maintained.
The following describes a specific embodiment of each of the steps described above:
S10, acquiring coordinates of a plurality of underwater sensors and data acquired in real time, wherein the coordinates, the water temperature, the salinity and the like can be included, and the coordinates, the water temperature, the salinity and the like can also include water pressure, water flow speed, water flow direction, chemical components of water and the like:
1) The spatial coordinates (x, y, z) of each sensor are pre-recorded according to the deployment location of the underwater sensor. The coordinates can be obtained through GPS positioning, and can also be manually measured and recorded;
2) Each underwater sensor collects water quality data at a current location, including water temperature and salinity, at certain time intervals (e.g., 1 minute). The water temperature can be measured by a temperature sensor, and the salinity can be measured by a conductivity sensor;
3) And matching the space coordinates of each sensor with water quality data of corresponding time points to form a data set (coordinates, time, water temperature and salinity). The data set is the data obtained in S10.
S20, preprocessing the acquired data to obtain preprocessed data:
1) Error and outlier data is removed: detecting whether the data of each sensor is in a normal range, such as water temperature is 0-35 ℃, salinity is 0-40ppt, and deleting the error data if the data is out of the normal range;
2) Interpolation fills in missing data: for the data which are not read by the individual sensors due to equipment faults, the data of the missing water temperature and salinity can be filled by carrying out spatial interpolation calculation through the readings of the adjacent sensors;
3) Smoothing the filtered noise data: and carrying out time series smoothing filtering on the data of each sensor to remove measurement noise. Algorithms such as a moving average method can be adopted;
4) Normalized data: the water temperature and salinity data are normalized and mapped to 0-1, so that the subsequent processing is facilitated;
And after pretreatment, a normalized and filtered complete data set is obtained, and each sensor has complete sequence data of four parameters of coordinates, time, water temperature and salinity.
S30, processing the preprocessed data by adopting a random matrix to obtain a high-order matrix:
1) Constructing a random matrix: generating a random matrix of m x n, where m is the time series length and n is the number of sensors. The values of the matrix elements are randomly distributed between 0 and 1;
2) Matrix operation: and performing matrix dot product operation on the preprocessed data set and the random matrix to obtain a m x n high-order matrix. The high-order matrix integrates time and space information;
3) Repeating the above process for several times to obtain multiple groups of high-order matrixes. And finally splicing the high-order matrixes on a third dimension to form a three-dimensional matrix. The three-dimensional matrix is the output result of S30;
The space-time correlation of the data can be enhanced by matrix operation, and the effect of subsequent feature extraction is improved.
S40, extracting features of the high-order matrix by adopting a sliding window to obtain a feature matrix:
1) Setting a sliding window size, for example, 30 (length of time) x 20 (number of sensors), the window sliding in the time direction;
2) Extracting statistical features such as mean, maximum, minimum, variance and the like of water temperature and salinity in each window from the data of each window;
3) And repeating the process to finally obtain the statistical characteristics of each sensor on each time window. The set of statistical features is a feature matrix of the sensor;
The sliding window is adopted to extract local statistical characteristics, so that time sequence information of data can be captured, and more distinguishing characteristics can be provided for subsequent clustering and analysis.
S50, clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers, wherein the number of the clustering centers is smaller than that of the underwater sensors:
1) Splicing the feature matrixes of all the sensors together, and carrying out a K-Means clustering algorithm;
2) The number k of cluster centers is set to be a certain proportion of the total number of sensors, for example 80% of the number of sensors. Through test and cross verification, selecting a proper k value;
3) And after the K-Means clustering iteration converges, K clustering centers and class clusters corresponding to the centers are obtained. Each cluster center can be regarded as feature overall statistics of all sensors in a class cluster;
4) Since k < total number of sensors, the multiple sensors converge to the same class of cluster. This may reduce redundant sensors.
S60, comparing the clustering degree of each feature matrix with the clustering center corresponding to the feature matrix, and if the clustering degree is larger than the preset threshold upper limit, marking the underwater sensor corresponding to the feature matrix as a sensor to be reduced; if the clustering degree is smaller than the preset threshold lower limit, searching M optimal coordinates by adopting an interpolation method according to the coordinates of a plurality of underwater sensors corresponding to the clustering center, wherein M is larger than or equal to 1, and the M is used as a coordinate set of the newly added underwater sensor:
1) Calculating Euclidean distance between each sensor feature matrix and the corresponding clustering center, wherein the smaller the distance is, the higher the clustering degree is;
2) Setting a clustering degree threshold, and if the distance is larger than an upper limit threshold, marking the sensor as to-be-reduced; if the distance is smaller than the lower threshold value, marking a sensor needing to be newly added in the cluster;
3) For a cluster needing to be newly added, calculating M new coordinate points as newly added sensor points by adopting an inverse distance interpolation method according to the coordinates and the characteristic distances of the existing sensors in the cluster;
The step intelligently determines the sensors to be reduced and increased through the clustering degree.
S70, sending the sensor to be reduced and the newly added underwater sensor coordinate set to an operation and maintenance person:
1) Generating a list of sensor numbers to be reduced, and sending the list to operation and maintenance personnel;
2) Generating a newly added sensor coordinate list, giving specific position information of each coordinate, and sending the specific position information to operation and maintenance personnel;
3) After the operation and maintenance personnel receive the information, the operation and maintenance personnel can carry out manual confirmation, sample test verification if necessary, and then sensor deployment adjustment;
4) After the adjustment is completed, the system is informed to restart the acquisition, and one sensor optimization iteration is completed.
And S80, after the personnel to be operated and maintained adjusts the deployment of the underwater sensors according to the sensors to be reduced and the newly added underwater sensor coordinate sets, the data acquired by the plurality of underwater sensors in real time are acquired again and sent to the personnel to be operated and maintained, and the specific acquisition mode is the same as that of the step S10.
The following is one specific embodiment of the method of the present invention:
s10, acquiring coordinates of a plurality of underwater sensors and data acquired in real time
Let the total number of the underwater sensors beFirst/>The coordinates of the individual sensors are/>,/>；
Each sensor is at fixed time intervalsData acquisition is carried out (for example, 1 minute) to obtain the water temperature of the current positionAnd salinity/>Wherein/>Represents the/>A plurality of time sample points;
Then construct a coordinate-time-data matching relationship:
。
s20, preprocessing the acquired data 1) removing error data, and judging whether the water temperature and salinity data are in a normal range or not: If the data of the sample point is not in the range, marking the data of the sample point as error data, wherein the range is set by operation and maintenance personnel; 2) Interpolation fill is for sensor/> At time/>In the case of empty data, three-dimensional linear interpolation calculation is performed through water temperature and salinity of the proximity sensor to calculate filling: Wherein/> Representing sensor/>At/>Set of proximity sensors near time,/>Representing the corresponding weight coefficient; 3) Filtering smoothing one-dimensional Gaussian filtering:/>, is performed on the data of each sensorWherein/>Representing a Gaussian kernel,/>Controlling the smooth window size; 4) Normalization mapping the water temperature and salinity data to [0, 1]:/>。
S30, generating a high-order matrix by matrix operation to construct a random matrixThe elements obey a uniform distribution U (0, 1), wherein the time series length/>Sensor count/>. For each time point/>And (3) calculating: Wherein/> Representing a matrix dot product operation,/>Respectively is the/>Normalized water and salinity for all sensors at each time point; repeating the above procedure to calculate/>Finally, the results of all time points are spliced to obtain a three-dimensional matrix/>Wherein/>Representing the number of matrices spliced.
S40, extracting characteristics of the sliding window, and setting the size of the sliding window asSliding step is/>. For each windowCalculating statistical characteristics:/>；
I.e. within each window, the mean and standard deviation of water and salinity are calculated, whereinIs the water temperature average value/>Is salinity mean value/>Is the standard deviation of water temperature,/>Is the salinity standard deviation. And repeating the process to finally obtain the statistical characteristics of each sensor on all windows.
S50, the clustering center is used for generating clusters to splice the characteristic matrixes of all the sensors into a large matrix in the row direction. Pairs/>, using a K-Means clustering algorithmClustering is carried out, and the clustering number/>Wherein/>Is the number of sensors/>Is a proportional coefficient of (2); iteratively optimizing an objective function:
；
Wherein the method comprises the steps of Representing a collection of cluster centers,/>Represents the/>Class sample,/>Represents the/>A cluster center of the class; after iteration convergence, a cluster center/> isobtained。
S60, determining and adjusting the sensor to calculate each sample according to the clustering degreeAnd corresponding cluster center/>Is a euclidean distance of (2): judging whether the sensor needs to be adjusted according to the distance threshold value: Wherein/> Default for preset distance threshold; For cluster/>, which requires adding sensorsCalculating new sensor coordinates: Wherein/> Is a distance-based weight coefficient.
Specifically, the principle of the invention is as follows:
1) Mapping the sensing data to a high-dimensional space by utilizing a random matrix algorithm, and enhancing the space-time relevance of the data;
2) Capturing statistical characteristics of data on a time sequence by a sliding window method;
3) And classifying the sensors according to the feature similarity by using a clustering algorithm. The cluster center represents typical region features;
4) The clustering density is measured according to the sample distance. If the distance is greater than the threshold value, redundancy is indicated, and if the distance is less than the threshold value, insufficient SAMPLE monitoring is indicated;
5) And outputting a sensor proposal for reducing the redundant area, and outputting a new sensor coordinate according to the characteristic distribution in the cluster for the insufficient monitoring area.
A second aspect of the present invention provides a computer readable storage medium, wherein the computer readable storage medium stores program instructions, and the program instructions are used to execute the underwater sensor data acquisition method.
A third aspect of the present invention provides an underwater sensor data acquisition system comprising the computer readable storage medium described above.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. The underwater sensor data acquisition method is characterized by comprising the following steps of:
s10, acquiring coordinates and real-time acquired data of a plurality of underwater sensors, including coordinates, water temperature and salinity, wherein the underwater sensors are underwater sensors of a salt depth meter;
S20, preprocessing the acquired data to obtain preprocessed data;
S30, processing the preprocessed data by adopting a random matrix to obtain a high-order matrix;
s40, carrying out feature extraction on the high-order matrix by adopting a sliding window to obtain a feature matrix;
S50, clustering the feature matrix of each underwater sensor to obtain a plurality of clustering centers, wherein the number of the clustering centers is smaller than that of the underwater sensors;
S60, comparing the clustering degree of each feature matrix with the clustering center corresponding to the feature matrix, and if the clustering degree is larger than the preset threshold upper limit, marking the underwater sensor corresponding to the feature matrix as a sensor to be reduced; if the clustering degree is smaller than the preset threshold lower limit, searching M optimal coordinates by adopting an interpolation method according to the coordinates of a plurality of underwater sensors corresponding to the clustering center, wherein M is larger than or equal to 1, and the M is used as a coordinate set of the newly added underwater sensor;
S70, sending the sensor to be reduced and the newly added underwater sensor coordinate set to operation and maintenance personnel;
s80, after the personnel to be operated and maintained adjust the deployment of the underwater sensors according to the sensors to be reduced and the newly added underwater sensor coordinate sets, the data acquired by the plurality of underwater sensors in real time are acquired again and sent to the personnel to be operated and maintained;
The step of processing the preprocessed data by adopting a random matrix to obtain a high-order matrix specifically comprises the following steps: constructing an m×n random matrix, wherein m is the time sequence length and n is the sensor number; performing matrix dot product operation on the preprocessed data set and the random matrix to obtain an m multiplied by n high-order matrix; repeating the above process for multiple times to obtain multiple groups of high-order matrixes, and splicing the high-order matrixes on a third dimension to form a three-dimensional matrix.
2. The method for acquiring the data of the underwater sensors according to claim 1, wherein the steps of acquiring the coordinates and the data acquired in real time of the plurality of underwater sensors, including the coordinates, the water temperature and the salinity, specifically include: according to the deployment position of the underwater sensor, the space coordinate of each sensor is recorded in advance; each underwater sensor collects water quality data of the current position at a certain time interval, including water temperature and salinity; and matching the space coordinates of each sensor with water quality data of corresponding time points to form a data set.
3. The method for collecting data of an underwater sensor according to claim 1, wherein the step of preprocessing the collected data to obtain preprocessed data comprises: detecting whether the data of each sensor is in a normal range, and removing errors and outlier data; for data which are not read by the individual sensors due to equipment faults, carrying out spatial interpolation calculation by the readings of the adjacent sensors, and filling the missing data; carrying out time series smoothing filtering on the data of each sensor to remove measurement noise; the water temperature and salinity data are normalized and mapped to between 0 and 1.
4. The method for collecting data of an underwater sensor according to claim 1, wherein the step of extracting features of the high-order matrix by using a sliding window to obtain the feature matrix specifically comprises: setting the size of a sliding window; extracting statistical features from the data of each window; and repeating the process to finally obtain the statistical characteristics of each sensor on each time window.
5. The method for collecting data of underwater sensors according to claim 1, wherein the step of clustering the feature matrix of each underwater sensor to obtain a plurality of cluster centers specifically comprises: splicing the feature matrixes of all the sensors together, and carrying out a K-Means clustering algorithm; setting the number k of the clustering centers as a certain proportion of the total number of the sensors; and after the K-Means clustering iteration converges, K clustering centers and class clusters corresponding to the centers are obtained.
6. The method for collecting data of an underwater sensor according to claim 1, wherein the step of comparing the clustering degree of each feature matrix and the corresponding clustering center to determine whether the sensor is to be reduced or added specifically comprises: calculating the Euclidean distance between each sensor feature matrix and the corresponding clustering center; setting a clustering degree threshold value, and if the distance is larger than the upper threshold value limit, marking the sensor as to-be-reduced; if the distance is smaller than the threshold lower limit, marking a sensor needing to be newly added in the cluster; and for the sensor needing to be newly added, calculating a new coordinate point by adopting an inverse distance interpolation method to serve as a newly added sensor point.
7. An underwater sensor data acquisition method as in any of claims 1-6, characterized in that the predetermined threshold has an upper limit of 0.8 and a lower limit of 0.4.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein program instructions, which when run, are adapted to perform a method of underwater sensor data acquisition as claimed in any one of claims 1-7.
9. An underwater sensor data acquisition system comprising the computer readable storage medium of claim 8.
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