CN108365999B - Glider-assisted link repair method - Google Patents

Glider-assisted link repair method Download PDF

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CN108365999B
CN108365999B CN201810079833.XA CN201810079833A CN108365999B CN 108365999 B CN108365999 B CN 108365999B CN 201810079833 A CN201810079833 A CN 201810079833A CN 108365999 B CN108365999 B CN 108365999B
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link
node
glider
cluster head
repair
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CN108365999A (en
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金志刚
王宁
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Tianjin University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
    • H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft

Abstract

The invention relates to a glider-assisted link repair method, which comprises the following steps: the static sensor node sends a data packet to the cluster head node at intervals of time, wherein the data packet contains the position information of the node; if the cluster head node receives the data packet, the failure of the link is judged, and a link interruption identifier is set; scheduling gliders to repair failed links; and selecting a proper track to repair the failed link through a failed link repair path optimization algorithm by combining the link interruption identification bit of the glider with the self motion characteristic.

Description

Glider-assisted link repair method
Technical Field
The invention relates to the technical field of underwater acoustic communication, in particular to a broken link transmitter in an underwater acoustic sensor network
Now with the glider scheduling mechanism.
Background
About 70% of the area on earth is covered by water, with the ocean as an important life support system on earth, which contains extremely abundant and precious natural resources. With the development and utilization of the ocean by human beings, the ocean technology on which the human beings rely becomes hot contents of scientific research. In many areas of ocean science and technology, Underwater Acoustic Sensor Networks (UASNs) have achieved significant achievements in many aspects of Underwater environmental detection, such as: UASNs has received increasingly widespread attention for marine data collection, monitoring of water pollution, underwater disaster warning, and the like. However, due to the extremely severe underwater acoustic communication environment, the underwater acoustic channel for the sensor node communication has the characteristics of narrow bandwidth, high delay, dynamic change, high error rate and the like. These characteristics present many problems for various aspects of UASNs design, including node deployment, physical layer, MAC layer, routing layer protocol design, and reliable data transfer. In addition, due to the existence of the dynamic change characteristic of the underwater acoustic communication link, the reliability of network data transmission cannot be ensured, and huge challenges are brought to the topology design of UASNs.
Due to the fact that underwater acoustic signals of communication among underwater sensor nodes are easily affected by factors such as water temperature, pressure intensity and water surface fluctuation, an underwater acoustic communication channel among the sensor nodes has extremely strong uncertainty of time and space. Therefore, even if the network meets the connectivity condition during initial deployment, due to the time-varying property of the underwater acoustic channel, the network may have a situation that communication between nodes is suddenly interrupted, that is, the network is partitioned and disconnected, which results in that the overall connectivity and reliability of the network cannot meet the application requirements. Therefore, in order to improve the network connectivity and reliability, it is of great significance to design a mechanism capable of realizing underwater communication link repair and efficient topology maintenance. For the temporary unreachable condition of the path from the underwater data collection node to the water surface sink node caused by the time-varying property of the underwater acoustic channel, if the static node is used for topology maintenance, larger node redundancy and larger resource expenditure are generated. Considering that the data acquisition task in UASNs is completed by a static node and a mobile node together, if the repair work of the failed link is assisted by an underwater vehicle executing the data acquisition task, flexible and efficient network topology maintenance can be realized. The underwater glider as a novel monitoring device with a unique driving mode has the advantages of low energy consumption, long range, low noise and low cost compared with AUV, and is applied to a plurality of tasks of collecting the three-dimensional continuous marine environmental parameters with long time sequence, large range and three dimensions in deep and far sea. Therefore, for a network with low real-time requirement, the repair of the failed link can be assisted by the network on the basis of data acquisition task of the underwater glider. However, as the motion trail of the underwater aerodone is single zigzag motion on the vertical plane, the design of an underwater acoustic channel link repair mechanism which fully considers the motion characteristics of the underwater aerodone has important significance for the topology maintenance of the network and the recovery of the network connectivity and reliability.
Disclosure of Invention
The invention provides an auxiliary link repairing method for an underwater glider, and aims to enable the underwater glider to be accurately used as a supplementary node of a failed link in time and recover the connectivity and reliability of a network. The technical scheme is as follows:
a glider-assisted link repair method, comprising the steps of:
step 1 static sensor node
Figure BDA0001560673290000021
Every time period T to its cluster head node hiTransmitting data packets
Figure BDA0001560673290000022
The data packet comprises a node
Figure BDA00015606732900000212
Self-position information.
Step 2 if cluster head node hiReceive from
Figure BDA0001560673290000023
Transmitted periodically
Figure BDA0001560673290000024
Data packet, then representing static sensor node
Figure BDA0001560673290000025
To the cluster head hiThe link between the nodes is not interrupted, if the cluster head node hiNot received in period T
Figure BDA0001560673290000026
Transmitted periodically
Figure BDA0001560673290000027
Data packet but receives its next hop node
Figure BDA0001560673290000028
Is/are as follows
Figure BDA0001560673290000029
Data packet, then determine
Figure BDA00015606732900000210
And
Figure BDA00015606732900000211
inter link eabIs out of service and set hiLink interruption identification delta inab＝1；
Step 3 if hiIf the link interruption identifiers delta in the data collection process are all 0, continuing to collect data according to the original running track after the glider finishes data forwarding; if there is a link failure, hiIf the link interruption flag δ is not all 0, then the signal is transmitted to the glider giPeriodic approach to hiWhen data forwarding is performed, cluster head hiTo giSending a message containing a failed link eabRepair (e) of two-node position informationab) Data packet, dispatch glider giRepairing the failed link;
step 4 if giReceive repair (e)ab) Data packet, identification bit delta for link interruption of gliderabSelecting a proper track to repair the failed link through a failed link repair path optimization algorithm by combining the motion characteristics of the failed link with 1;
step 5 at giFinish hiAfter the assigned failure link repair command, the glider's broken link identification deltaabSet 0 to indicate that the link e issued by the cluster head is completedabRepairing task, at the moment, the glider returns to the original position again to cluster the head node hiLink interruption identification deltaabSet to 0 and proceed with environmental data collection.
Drawings
FIG. 1 is a network model of the system of the present invention
FIG. 2 is a block diagram of the LDR-GS mechanism of the present invention
FIG. 3 is a schematic representation of glider auxiliary link repair of the present invention
Detailed Description
Reference will now be made in detail to implementations of the present invention. The following embodiments will be described with reference to the accompanying drawings for the purpose of illustrating the invention.
In fig. 1, the network maintenance problem considered herein is for a glider-assisted link repair method under known underwater sensor static and dynamic node deployment, and assuming that the original network initial deployment has satisfied coverage and connectivity conditions. The whole area is divided into several sub-areas in the network, and each sub-area i comprises a cluster head node hiOne underwater dynamic node glider giAnd a plurality of static sensor network nodes
Figure BDA0001560673290000031
The static node is fixed on the water bottom by a cable and is an anchoring node floating in the water by a buoyancy device. The static sensor nodes transmit the collected data information to the cluster head nodes in the area in a multi-hop mode through the underwater acoustic channel, the underwater glider serves as a dynamic sensor node, the data information in the area i is dynamically collected and periodically passes through the positions of the cluster head nodes, and the collected data information is transmitted to the cluster head nodes. The cluster head nodes further send the collected information to the cluster head nodes of the upper subzone, so that the collected data are transmitted to the sink nodes on the water surface layer by layer, and finally the sink nodes on the water surface transmit the data to the satellite or the shore base station in a radio communication mode through data fusion processing.
Fig. 2 is a schematic view of a glider recovery process. When the cluster head nodes in the sub-area discover that the link in the network is interrupted, and when the glider approaches the cluster head nodes to forward data, the cluster head nodes inform the glider of the interruption information in the network. At this time, the glider can carry out link reconstruction at a designated position according to the information provided by the cluster head node, so as to achieve the effect of recovering the communication link.
In fig. 3, the overall mechanism is specifically described. On the basis of the existing network node deployment, a glider auxiliary healing mechanism is designed. Firstly, a failure link identification and glider scheduling mechanism needs to be designed, and cluster head nodes h in a sub-region i in the mechanismiIs responsible for collecting and processing the houses in the clusterCluster Member SiAnd glider giAnd finally sending the data to the water surface aggregation node by the sent data packet. Suppose a cluster head hiThe routing table of (a) holds all the routing information in the area, where each sensor node arrives at hiThe routing is carried out according to the shortest path, namely, each node reaches hiIs unique. In the network, the underwater node automatically enters a dormant state from an active state when no data needs to be received and sent. For glider g in this areaiWill be periodically close to hiThe node forwards the collected environment data to hiAt the same time hiWill transmit the link interruption information among the whole cluster members to giSo that a link can be failed by the glider giAnd repairing in time. The specific process is as follows:
a. the method comprises the steps that firstly, normal environment information collection is completed by a static node and a dynamic node, then a data packet is forwarded to a cluster head node in the area through a multi-hop link, and the link is interrupted due to the time-varying characteristic of the environment in the forwarding process, so that the forwarding of the acquired data information fails. At this time, step 1 to step 5 are required to perform link reestablishment, so as to repair the link.
b. As described in step 1, by means of static sensor nodes
Figure BDA0001560673290000032
Every time period T to its cluster head node hiTransmitting data packets
Figure BDA0001560673290000033
The data packet comprises a node
Figure BDA0001560673290000034
And the self position information, the cluster head node can acquire the state and the position information of the link.
c. As step 2, the information received by the cluster head is divided into two cases: if cluster head hiReceive from
Figure BDA0001560673290000041
Transmitted periodically
Figure BDA0001560673290000042
Data packet, then represent
Figure BDA0001560673290000043
To the cluster head hiThe link between them is not interrupted; if cluster head hiNot received in period T
Figure BDA0001560673290000044
Transmitted periodically
Figure BDA0001560673290000045
Data packet but receives its next hop node
Figure BDA0001560673290000046
Is/are as follows
Figure BDA0001560673290000047
Data packet, then determine
Figure BDA0001560673290000048
And
Figure BDA0001560673290000049
inter link eabIs out of service and set hiLink interruption identification delta inab＝1。
d. This part needs to wait for the glider to periodically approach the cluster head node as in step 3. If hiIf the link interruption identifiers delta in the data collection process are all 0, continuing to collect data according to the original running track after the glider finishes data forwarding; if there is a link failure, hiIf the link interruption flag δ is not all 0, then the signal is transmitted to the glider giPeriodic approach to hiWhen data forwarding is performed, cluster head hiTo giSending a message containing a failed link eabRepair (e) of two-node position informationab) Data packet, dispatch glider giAnd repairing the failed link.
e. Such as the steps4, when the glider receives different commands from the cluster head node, different motion tracks are generated: if g isiReceive repair (e)ab) Data packet, identification bit delta for link interruption of gliderabSelecting a proper track to repair the failed link through a failed link repair path optimization algorithm by combining the motion characteristics of the failed link with 1; and if the glider does not receive the dispatching signal from the cluster head node, continuing the original track to collect the data of the environment information.
f. As described in step 5, at giFinish hiAfter the assigned failure link repair command, the glider's broken link identification deltaabSet 0 to indicate that the link e issued by the cluster head is completedabRepairing task, at the moment, the glider returns to the original position again to cluster the head node hiLink interruption identification deltaabSet to 0 and proceed with environmental data collection.
g. At this time, the network in the sub-area has already finished a data link repair, and the network recovers the original connectivity.

Claims (1)

1. A glider-assisted link repair method, comprising the steps of:
step 1 static sensor node
Figure FDA0003199125380000011
Every time period T to its cluster head node hiTransmitting data packets
Figure FDA0003199125380000012
The data packet comprises a node
Figure FDA0003199125380000013
Self-location information, wherein static sensor nodes
Figure FDA0003199125380000014
J is an anchoring node fixed at the bottom of the water and floating in the water by a buoyancy device, and j is a node h connected with the cluster headiStatic transfer of communicationsThe static sensor nodes forward the collected data information to the cluster head nodes in the area in a multi-hop mode through the underwater acoustic channel;
step 2 if cluster head node hiReceive from
Figure FDA0003199125380000015
Transmitted periodically
Figure FDA0003199125380000016
Data packet, then representing static sensor node
Figure FDA0003199125380000017
To cluster head node hiThe link between the nodes is not interrupted, if the cluster head node hiNot received in period T
Figure FDA0003199125380000018
Transmitted periodically
Figure FDA0003199125380000019
Data packet but receives its next hop node
Figure FDA00031991253800000110
Is/are as follows
Figure FDA00031991253800000111
Data packet, then determine
Figure FDA00031991253800000112
And
Figure FDA00031991253800000113
inter link eabIs out of service and set hiLink interruption identification delta inab＝1；
Step 3 if hiIf the link interruption identifiers delta in the data collection system are all 0, the glider continues to collect data according to the original running track after completing data forwarding(ii) a If there is a link failure, hiIf the link interruption flag δ is not all 0, then the signal is transmitted to the glider giPeriodic approach to hiWhen data forwarding is carried out, cluster head node hiTo giSending a message containing a failed link eabRepair (e) of two-node position informationab) Data packet, dispatch glider giRepairing the failed link;
step 4 if giReceive repair (e)ab) Data packet, identification bit delta for link interruption of gliderabSelecting a proper track to repair the failed link through a failed link repair path optimization algorithm by combining the motion characteristics of the failed link with 1;
step 5 at giFinish hiAfter the assigned failure link repair command, the glider's broken link identification deltaabSet 0 to indicate that the link e issued by the cluster head is completedabRepairing task, at the moment, the glider returns to the original position again to cluster the head node hiLink interruption identification deltaabSet to 0 and proceed with environmental data collection.
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