CN110933641A - Heterogeneous node cooperative sensing system and method for offshore self-organizing network - Google Patents

Heterogeneous node cooperative sensing system and method for offshore self-organizing network Download PDF

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CN110933641A
CN110933641A CN201911228481.0A CN201911228481A CN110933641A CN 110933641 A CN110933641 A CN 110933641A CN 201911228481 A CN201911228481 A CN 201911228481A CN 110933641 A CN110933641 A CN 110933641A
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cluster head
sub
node
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胡一帆
陈杰
吕斌
刘海林
陈露
孙玉娇
吕成兴
袁健
张照文
曹琳
李辉
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Oceanographic Instrumentation Research Institute Shandong Academy of Sciences
Institute of Oceanographic Instrumentation Shandong Academy of Sciences
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    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
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    • H—ELECTRICITY
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    • H04W16/14—Spectrum sharing arrangements between different networks
    • 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
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract

The invention discloses a heterogeneous node cooperative sensing system and method for a marine self-organizing network, which comprises the following steps: selecting an optimal sub-cluster head node by adopting a fitness equation, thereby establishing a self-organizing network model with a three-layer cluster structure; planning a global shortest path of a USV (unmanned surface vehicle) and traversing all cluster heads and sub-cluster head nodes in a moving mode; the USV local path planning is realized through a multi-hop relay network formed by the cluster heads and the sub-cluster heads, and the moving path of the USV is planned in real time, so that a heterogeneous node cooperative sensing system facing the offshore self-organizing network is established. According to the invention, through the double-layer convergence effect of the cluster head and the sub-cluster head nodes and the USV global and local combined path planning method, the energy consumption balance of the offshore self-organizing network can be effectively realized, and the efficient maintenance and dynamic monitoring of the network can be realized.

Description

Heterogeneous node cooperative sensing system and method for offshore self-organizing network
Technical Field
The invention relates to the technical field of self-organizing networks, in particular to a system and a method for cooperative sensing of an abnormal node for a marine self-organizing network.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The marine self-organizing network monitoring technology provides powerful technical support and guarantee for marine transportation industry, emergency rescue and marine environment monitoring, has the characteristics of flexible deployment, low cost and small environmental influence, has great advantages for monitoring marine key areas, and improves the dynamic monitoring and response capability of people on marine environment, resources and disasters. The offshore self-organizing network comprises offshore mobile node carriers such as an Unmanned Surface Vehicle (USV) at sea and the like, water fixed carriers carrying sensor network nodes such as anchoring buoys and drifting buoys and the like, or underwater fixed carriers carrying sensor network nodes such as anchoring submerged buoys and the like, sensing data are relayed and transmitted in an offshore wireless communication mode, a monitoring and response system can be rapidly arranged in an undeveloped sea area, and offshore tasks such as cluster sensing, cooperative operation and the like are completed.
Meanwhile, the offshore environment is complex, and the topological coverage cannot be optimized by calculating the deployment position of the node in advance, so that the node cannot completely cover the monitoring area. Disturbance of sea wind and sea waves easily influences the positions of the sensor nodes and causes migration, so that the offshore self-organizing network has dynamic performance and network topology reliability is influenced. The USV mobile node is deployed, so that the coverage area of the network can be expanded, the sampling rate of the monitoring event on the time and space dimensions is improved, and the monitoring performance of the network is improved.
In the path planning problem of the USV, if the USV moves to traverse all nodes to collect data, the path distance planned by the USV is too long, and the energy consumption is high, which results in too high cost. If a small number of cluster head nodes are uniformly deployed in the network and used for collecting and storing the sensing data of the sensor nodes in the cluster, the navigation distance and the energy consumption of USV planning can be reduced, and the USV only needs to traverse the cluster head nodes and collect the data uploaded by the cluster heads. If the USV only traverses the cluster head nodes, all the nodes need to wait for uploading data to the cluster head; meanwhile, the multi-hop routing with too many nodes in the cluster consumes a large amount of energy and increases the node failure probability, so that the energy consumption balance of the nodes is difficult to realize.
Secondly, due to the fact that the importance degree of part of monitoring areas is high, a large number of levels of data such as images or videos need to be collected, the other parts of areas only need to collect medium level data such as wind power temperature and salinity, how to deploy the sensor network nodes, and the problem of collecting data of different scales needs to be solved.
Thirdly, in the path planning of the USV, when an emergency occurs in a network part area, the USV needs to go to perform key monitoring or replace a damaged node, and then a method for efficiently and remotely performing local path planning on the USV is needed, so that cooperative sensing between the USV and a heterogeneous node is realized.
In summary, a more appropriate scheme for performing data perception by mutually coordinating the USV and the offshore ad hoc network is urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides a heterogeneous node cooperative sensing system and a heterogeneous node cooperative sensing method for an offshore ad hoc network, wherein a sub-cluster head node is introduced, and the distance of a multi-hop transmission path of each relay node is reduced by means of the convergence effect of the sub-cluster head and the cluster head node in a three-layer network structure, and meanwhile, the moving path planned by a USV (universal serial bus) can be reduced, the node failure rate is reduced, and therefore, the network energy consumption and the packet loss rate are reduced; by the method of combining USV whole-office and local path planning, the rapid maintenance and dynamic monitoring of the network can be effectively realized.
In some embodiments, the following technical scheme is adopted:
a heterogeneous node cooperative sensing system for a marine ad hoc network, comprising: sensor network nodes, cluster head nodes and gateway nodes which are respectively deployed on the sea surface form a clustering structure network; and selecting a plurality of optimal sub-cluster head nodes in each cluster, wherein the sub-cluster head nodes and the cluster head nodes in each cluster form a star network, the sensor network nodes and the sub-cluster head nodes in the sub-cluster range form a multi-hop routing network, and the rest sensor nodes outside the coverage range of all the sub-clusters in the clusters form the multi-hop routing network with the cluster head nodes directly in a multi-hop mode.
In other embodiments, the following technical solutions are adopted:
a heterogeneous node cooperative sensing method for a marine ad hoc network comprises the following steps:
selecting a plurality of optimal sub-cluster head nodes from the sensor network nodes in each cluster to construct a layered network architecture;
the maritime mobile node carrier plans a global shortest moving path according to the position information of all cluster head nodes and sub-cluster head nodes; moving to the vicinity of each node according to the path to receive the storage data uploaded by the node, and transmitting the data to the gateway node;
the gateway node receives data forwarded by the maritime mobile node carrier and event information reported by the cluster head and the sub-cluster head nodes; the gateway node generates a local path planning command and forwards the command to all cluster head nodes and sub-cluster head nodes for storage in a multi-hop manner;
when the maritime mobile node carrier approaches a certain cluster head node or a sub-cluster head node, a local path planning command sent by the corresponding node is received;
after receiving the local path planning command, the maritime mobile node carrier moves to a set area for monitoring, or the node is replaced, and moves to the next cluster head or sub-cluster head node according to the original global planning path.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the three-layer self-organizing network architecture designed by the invention, the cluster head and the sub-cluster head nodes collect data sensed by the surrounding sensor nodes at the same time, so that the distance of multi-hop transmission paths of each relay node can be reduced, the USV planned moving path can be reduced, the node failure rate can be reduced, and the network energy consumption and the packet loss rate can be reduced.
(2) Most sensor nodes only collect medium-level data such as temperature, humidity, salinity and wind power, and only a few cluster head nodes are distributed in key areas to collect a large amount of level data such as video images, so that the energy consumption of the network is saved, and the coverage area of the network is enlarged.
(3) According to the invention, various factors influencing the selection of the sub-cluster head nodes are comprehensively considered, the fitness equation containing the factors is solved, the optimal deployment mode of the sub-cluster head nodes is selected, and the problems of reducing the distance of multi-hop transmission paths of all the nodes, balancing the energy consumption of all the nodes, shortening the moving path of the USV and the like can be solved.
(4) The USV can obtain a local path planning command through relay transmission of an upper-layer multi-hop network consisting of cluster heads and sub-cluster head nodes, so that a USV path is planned in real time to change path planning in real time, and efficient maintenance and dynamic monitoring of the network are effectively realized through the combination of global and local path planning.
Drawings
FIG. 1 is a network hierarchical networking diagram of an offshore ad hoc network in one embodiment of the invention;
fig. 2 is a schematic diagram of a forwarding direction of data of each heterogeneous node in an embodiment of the present invention;
FIG. 3 is a schematic diagram of USV path planning in an embodiment of the present invention;
fig. 4 is a flowchart illustrating a heterogeneous node cooperative sensing method according to an embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
In one or more embodiments, a heterogeneous node cooperative awareness system for a marine ad hoc network is disclosed, comprising: sensor network nodes, cluster head nodes and gateway nodes which are respectively deployed on the sea surface form a clustering structure network; selecting a plurality of optimal sub-cluster head nodes in each cluster respectively, wherein the sub-cluster head nodes in each cluster and the cluster head nodes form a star network, the sensor network nodes in the sub-cluster range and the sub-cluster head nodes form a multi-hop routing network, and the rest sensor nodes outside the coverage range of all the sub-clusters in the cluster and the cluster head nodes form the multi-hop routing network directly in a multi-hop mode, such as 1->2->3->CH2。
Specifically, the sensor nodes (including sub-cluster head nodes) are densely deployed on the sea surface, resources are limited, storage space is small, collected medium-magnitude sea surface observation data (such as temperature, humidity, salinity, wind direction, wind power and the like) are transmitted to the sub-cluster heads or the cluster head nodes in a wireless multi-hop manner, communication distance is small, and price is low.
The cluster head nodes are sparsely deployed on the sea surface and are composed of nodes with rich resources, the storage space is large, the cluster head nodes are suitable for collecting a large amount of level data such as images and videos, the cluster head nodes have strong data processing capacity, the medium level data sent by common sensor nodes can be merged and stored, the large amount of level data collected by the cluster head nodes are stored and uploaded to a near USV (unmanned sea vehicle, hereinafter referred to as USV), the communication transmission distance is long, and the price is high.
The USV has large storage space, short communication distance and high moving speed on the sea surface. The USV is suitable for serving as a mobile relay station, closely collects data uploaded by the cluster head and the sub-cluster head nodes, stores and forwards the data to the network joint point, and can be used for replacing the cluster head and the sub-cluster head nodes.
The gateway node is responsible for receiving a large amount of level data forwarded by the USV, receiving small-level event information reported by the cluster head node in a multi-hop mode, and simultaneously forwarding a small-level local path planning command to the USV through the cluster head and the sub-cluster head nodes.
In the embodiment, according to the fitness equation selected by the sub-cluster head nodes, the optimal sub-cluster head nodes are sequentially calculated from the sensor nodes in each cluster, and an optimal sub-cluster head node set is obtained;
specifically, the fitness equation for solving the jth optimal sub-cluster head node in the ith cluster contains 4 factors, namely the sub-cluster head node distance ratio
Figure BDA0002302870170000061
Ratio of number of sub-cluster head one-hop neighbor nodes
Figure BDA0002302870170000062
Residual energy of one-hop neighbor of sub-cluster headRatio of
Figure BDA0002302870170000063
Energy consumption ratio within sub-cluster
Figure BDA0002302870170000064
The four factors are normalized, and the fitness value of the sub-cluster head node can be obtained through fitness equation calculation
Figure BDA0002302870170000065
Wherein
Figure BDA0002302870170000066
Is the jth sub-cluster head node of the ith cluster in the network.
Figure BDA0002302870170000067
The equation of (a) is as follows:
Figure BDA0002302870170000068
wherein the equation for optimal sub-cluster head node selection
Figure BDA0002302870170000069
The following were used:
Figure BDA00023028701700000610
the equation shows that, among the candidate sub-cluster head nodes, the sub-cluster head node with the largest fitness value is selected.
Wherein the sub-cluster head node distance ratio
Figure BDA00023028701700000611
Refers to the node
Figure BDA00023028701700000612
With other cluster heads
Figure BDA00023028701700000613
Distance between the median radius and cluster head
Figure BDA00023028701700000614
Radius of communication RCHThe ratio of (a) to (b). Wherein
Figure BDA00023028701700000615
Finger cluster head
Figure BDA00023028701700000616
And the cluster head
Figure BDA00023028701700000617
The distance between them. The equation is as follows:
Figure BDA00023028701700000618
the equation shows that the candidate sub-cluster-head node will get the maximum value near the middle of its cluster-head node communication radius.
The energy consumption ratio in the sub-cluster
Figure BDA0002302870170000071
Refers to the node
Figure BDA0002302870170000072
The energy consumed by all nodes in the formed sub-cluster
Figure BDA0002302870170000073
Initial energy with these nodes
Figure BDA0002302870170000074
The ratio, equation, is as follows:
Figure BDA0002302870170000075
the sub-cluster head neighbor residual energy ratio
Figure BDA0002302870170000076
Refers to the node
Figure BDA0002302870170000077
Residual energy of one-hop neighbor node of
Figure BDA0002302870170000078
Initial energy with these nodes
Figure BDA0002302870170000079
The equation is as follows:
Figure BDA00023028701700000710
the number ratio of the sub-cluster head neighbors
Figure BDA00023028701700000711
Refers to the sub-cluster head node
Figure BDA00023028701700000712
Number of one-hop neighbor nodes
Figure BDA00023028701700000713
And the number of all nodes in the cluster
Figure BDA00023028701700000714
The equation is as follows:
Figure BDA00023028701700000715
in this embodiment, a multi-layer heterogeneous network structure is adopted, and includes a large number of sensor nodes, more than 4 cluster head nodes, and 1 gateway node, and each cluster head node includes 4 sub-cluster head nodes. Each cluster head node forms a cluster, 4 sub-cluster head nodes are selected from the sensor nodes in the cluster to form 4 sub-clusters, and the 4 sub-cluster heads and the cluster head form a star network. Referring to FIG. 1, CH2As a node of the cluster head, there is a cluster head,
Figure BDA00023028701700000716
Figure BDA00023028701700000717
as a sub-cluster head node within the cluster. The sensor nodes in the sub-cluster range and the sub-cluster head nodes form a multi-hop routing network, the rest sensor nodes in the clusters outside the 4 sub-cluster ranges and the cluster heads also form the multi-hop routing network, refer to 1->2->3->CH2. Therefore, the gateway node, the cluster head node and the sub-cluster head node form an upper network structure, and the network is responsible for transmitting small-magnitude event information and local path planning commands. The sub-cluster head nodes and the sensor nodes form a lower-layer network structure, the cluster head nodes and other sensor nodes outside the coverage range of all the sub-clusters in the cluster also form a lower-layer network structure, and the sensor nodes are responsible for multi-hop collection and storage of medium-magnitude sensing data.
In the upper layer network, the link direction from the gateway node to the cluster head node and from the cluster head to the sub-cluster head node is a downlink, and the reverse direction is an uplink. The gateway node forwards the local path planning command through a downlink, and each cluster head or sub-cluster head node sends temporarily generated event information through an uplink. In the lower layer network, each sensor node in a sub-cluster transmits the medium magnitude data to a sub-cluster head node in a multi-hop relay mode, and the rest sensor nodes which are not covered by the sub-cluster head node in the cluster transmit the medium magnitude data to the cluster head node in a multi-hop mode.
In this embodiment, the network forwarding data includes 4 data types, which are respectively:
and large-magnitude data such as images and videos are collected and stored by the cluster head nodes and are forwarded to the USV nearby the berth.
And data of medium-magnitude humiture, salinity, wind speed, wind direction and the like are acquired by the sensor nodes, are uploaded to the cluster heads or sub-cluster head nodes in a multi-hop manner through the lower network, and are forwarded to the USV nearby the berthage.
And the small-magnitude local path planning command comprises a command USV to go to a monitoring area for long-time monitoring, node replacement and the like, and is generated by the gateway node and forwarded to all cluster heads and sub-cluster head nodes in a multi-hop manner.
The small-magnitude event information, including the emergency with high importance, the cluster head node failure alarm and the like, is generated by the sub-cluster head or the cluster head node and is reported to the gateway node by the upper network multi-hop.
In the embodiment, a data forwarding manner of the heterogeneous nodes is as shown in fig. 2, and multiple hops between the sensor nodes forward the medium-level data to the sub-cluster head node or the cluster head node to which the medium-level data belongs and store the medium-level data. When the USV moves and stops near each sub-cluster head and cluster head node, the USV respectively receives the medium-level data wirelessly forwarded by the sub-cluster head node and a large amount of level data forwarded by the cluster head node, and after traversing all the cluster heads and the sub-cluster head nodes in sequence, the USV moves and stops at the gateway node and uploads all the data. When a certain sub-cluster head or cluster head node monitors an emergency, reporting event information to a gateway node through uplink path multi-hop. When the gateway node needs to send a local path planning command to the USV remotely, as shown in fig. 1, the command will be forwarded to 5 cluster head nodes and all sub-cluster head multi-hops in the network via the downlink. As shown in FIG. 3, the USV now moves to just the sub-cluster head node
Figure BDA0002302870170000091
And nearby, receiving the command reported by the sub-cluster head node in real time.
Specifically, the USV plans to obtain a global shortest moving path traversing all cluster heads and sub-cluster head nodes according to the position information of all cluster heads and sub-cluster head nodes, then sequentially moves to the vicinity of each node according to the path, receives the stored data uploaded by the node, then moves and stops to a gateway node, and uploads the collected data; and then circulating to perform the next round of moving traversal.
The gateway node receives the data forwarded by the USV and event information reported by the cluster head and the sub-cluster head nodes through an upper network in the data forwarding process; the gateway node generates a local path planning command, and multiple hops are sent to all cluster heads and sub-cluster head nodes for storage, and when the USV is close to a certain cluster head or sub-cluster head node, the gateway node immediately receives the command reported by the node;
when the USV receives a local path planning command forwarded by the nearest cluster head/sub-cluster head node, the USV changes the moving path, namely moves to a designated area for key monitoring, or replaces a damaged node, and then moves to the next cluster head or sub-cluster head node according to the original global planning path.
In the global planning method, the USV plans and obtains the shortest moving path traversing all cluster heads and sub-cluster head nodes according to the position information of all cluster head nodes and the position information of all sub-cluster head nodes in each cluster, namely the USV plans and obtains the shortest moving path traversing all cluster heads and sub-cluster head nodes
Figure BDA0002302870170000092
Figure BDA0002302870170000093
A gateway node as shown in figure 3. And then the USV sequentially moves and stops near each cluster head node and the sub-cluster head nodes thereof according to the path, receives the large-magnitude data uploaded by the cluster head and the medium-magnitude data forwarded by the sub-cluster head nodes, moves and stops near the gateway node after traversing all the cluster heads and the sub-cluster head nodes, and forwards the stored data to the gateway node.
In the local planning method, after a gateway node generates a local path planning command, the local path planning command is forwarded to all cluster head nodes through upper network multi-hop, and then the cluster head nodes are forwarded to all sub-cluster head nodes in a cluster. Waiting for USV to stop at the sub-cluster head node
Figure BDA0002302870170000094
Hour, sub-cluster head
Figure BDA0002302870170000095
The command will be forwarded immediately and the USV will move to CH according to the command changing the planned path2The region carries out data centralized acquisition or CH replacement2Nodes, as shown in fig. 3. And after the task is finished, the mobile terminal moves according to the original global planning path, so that the network environment is continuously maintained to be stable.
Example two
In one or more embodiments, a heterogeneous node cooperative sensing method for a self-organizing network at sea is disclosed, wherein first, the optimal sub-cluster head nodes in all clusters in the network are selected, and a three-layer network structure is established; then, the shortest path planning of the USV is carried out, and the nodes of all cluster heads and sub-cluster heads of the traversing network are moved to finish the storage and the forwarding of the sensing data; and finally, carrying out real-time change on the USV planning path according to the command, thereby realizing data collaborative perception of all heterogeneous nodes.
Referring to fig. 4, the method of this embodiment specifically includes the following steps:
1) and (3) selecting a sub-cluster head node: firstly, deploying sensor network nodes and cluster head nodes on the sea surface to form a clustering structure network, and then sequentially calculating optimal sub-cluster head nodes from the sensor nodes in each cluster according to a fitness equation selected by the sub-cluster head nodes to obtain an optimal sub-cluster head node set;
2) constructing a three-layer network structure: the sub-cluster head nodes selected from each cluster and the cluster head nodes form a star network, the sensor nodes in the sub-cluster range and the sub-cluster head nodes form a multi-hop routing network, the rest sensor nodes outside all the sub-cluster ranges in the cluster head and the cluster head also form the multi-hop routing network, refer to 1->2->3->CH2Thus forming a three-layer network structure. The cluster head nodes are farther in communication distance, so that a multi-hop communication network can be formed between all the cluster head nodes and the gateway node, and a star network is formed between the cluster heads and the sub-cluster heads, so that the gateway nodes, the cluster head nodes and the sub-cluster head nodes form an upper layer network structure, and the network is responsible for transmitting small-magnitude event information and local path planning commands. The sub-cluster head nodes and the sensor nodes in the cluster form a lower-layer network, and the cluster head and other sensor nodes outside the coverage range of all the sub-clusters in the cluster form a lower-layer network structure which is responsible for multi-hop collection of medium-magnitude sensing data and storage. The link direction from the gateway node to the cluster head node and from the cluster head to the sub-cluster head node is a downlink, and the reverse direction is an uplink. Gateway node forwarding local path planning order over downlinkEach cluster head or sub-cluster head node is caused to transmit temporarily generated event information through an uplink.
3) And (3) USV global path planning: the USV obtains the shortest moving path traversing all cluster heads and sub-cluster head nodes through global planning according to the position information of all cluster heads and sub-cluster head nodes, then sequentially moves and stops near each cluster head and sub-cluster head node according to the path, receives the stored data uploaded by the nodes, finally stops at a gateway node, and uploads the acquired data in a unified manner; then circularly carrying out the next round of moving traversal;
4) and (3) heterogeneous node data forwarding: the gateway node receives the data forwarded by the USV and event information reported by the cluster head and the sub-cluster head nodes through an upper network in the data forwarding process; the gateway node generates a local path planning command, multi-hop forwards the command to all cluster heads and sub-cluster head nodes for storage, and when the USV is close to a certain cluster head or sub-cluster head node, the gateway node immediately receives the command reported by the node;
5) and (3) USV local path planning: when the USV receives a local path planning command forwarded by a nearest cluster head or sub-cluster head node, the USV plans a moving path again, namely moves to a designated area preferentially for carrying out key monitoring, or replaces a damaged node, and then moves to the next node according to the original moving path.
The specific implementation of the above process has been described in detail in the first embodiment, and is not described herein again.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. A heterogeneous node cooperative sensing system for a marine ad hoc network, comprising: sensor network nodes, cluster head nodes and gateway nodes which are respectively deployed on the sea surface form a clustering structure network; the method is characterized in that a plurality of optimal sub-cluster head nodes are selected in each cluster respectively, the sub-cluster head nodes and the cluster head nodes in each cluster form a star network, sensor network nodes and sub-cluster head nodes in a sub-cluster range form a multi-hop routing network, and the rest sensor nodes outside the coverage range of all sub-clusters in the clusters form the multi-hop routing network with the cluster head nodes directly in a multi-hop mode.
2. The system of claim 1, wherein according to a fitness equation selected by the sub-cluster head nodes, the optimal sub-cluster head node is sequentially selected from the sensor nodes in a computing manner to obtain optimal sub-cluster head node set information.
3. The system of claim 1, wherein the fitness equation selected by the sub-cluster head node is specifically as follows:
Figure FDA0002302870160000011
wherein the content of the first and second substances,
Figure FDA0002302870160000012
Figure FDA0002302870160000013
a jth sub-cluster head node representing an ith cluster in the network,
Figure FDA0002302870160000014
represents the sub-cluster head node distance ratio,
Figure FDA0002302870160000015
represents the ratio of the number of sub-cluster head one-hop neighbor nodes,
Figure FDA0002302870160000016
representing the remainder of a sub-cluster head one-hop neighborThe ratio of the energies is such that,
Figure FDA0002302870160000017
representing the ratio of energy consumption within a sub-cluster.
4. The system of claim 1, wherein the gateway node, the cluster head node and the sub-cluster head node form an upper network structure for transmitting event information and local path planning commands; the sub-cluster head nodes and the sensor nodes form a lower-layer network structure, and the cluster head nodes and the rest sensor nodes outside the range of all the sub-clusters in the cluster also form the lower-layer network structure for multi-hop collection of sensing data and storage.
5. The cooperative sensing system of heterogeneous nodes for offshore ad hoc network according to claim 1, wherein said sensing data comprises: temperature and humidity, salinity, wave amplitude and frequency, wind speed and wind direction data.
6. The system as claimed in claim 1, wherein the maritime mobile node carrier plans a global shortest moving path traversing all cluster head nodes and sub-cluster head nodes according to the position information of all cluster head nodes and sub-cluster head nodes, sequentially moves to the vicinity of each node according to the path, receives the stored data uploaded by the corresponding node, then moves and stops at the gateway node, and uploads the collected data.
7. The system according to claim 1, wherein the gateway node receives data forwarded by the maritime mobile node carrier and event information reported by the cluster head node and the sub-cluster head node via an upper network during a data forwarding process; the gateway node generates a local path planning command, multi-hop forwarding is carried out on the local path planning command to all cluster head nodes and sub-cluster head nodes for storage, and when the maritime mobile node carrier is close to a certain cluster head node or a sub-cluster head node, the local path planning command sent by the corresponding node is received.
8. The system as claimed in claim 1, wherein when the maritime mobile node bearer receives the local path planning command forwarded by the nearest cluster head node or sub-cluster head node, the maritime mobile node bearer changes its moving path, that is, moves to a set area for key monitoring, or replaces a damaged node, and moves to the next cluster head or sub-cluster head node according to the original global planning path.
9. A heterogeneous node cooperative sensing method for a maritime ad hoc network is characterized by comprising the following steps:
selecting a plurality of optimal sub-cluster head nodes from the sensor network nodes in each cluster to construct a hierarchical network architecture;
the maritime mobile node carrier plans a global shortest moving path according to the position information of all cluster head nodes and sub-cluster head nodes; moving to the vicinity of each node according to the path to receive the stored data uploaded by the node, and transmitting the data to a gateway node;
the gateway node receives data forwarded by the maritime mobile node carrier and event information reported by the cluster head and the sub-cluster head nodes; the gateway node generates a local path planning command and forwards the command to all cluster head nodes and sub-cluster head nodes for storage in a multi-hop manner;
when the maritime mobile node carrier approaches a certain cluster head node or a sub-cluster head node, a local path planning command sent by the corresponding node is received;
after receiving the local path planning command, the maritime mobile node carrier moves to a set area for monitoring, or the node is replaced, and moves to the next cluster head or sub-cluster head node according to the original global planning path.
10. The cooperative sensing method for the heterogeneous nodes of the offshore ad hoc network according to claim 9, wherein the constructing of the hierarchical network architecture specifically comprises:
the sub-cluster head nodes and the cluster head nodes selected from each cluster form a star network, the sensor nodes and the sub-cluster head nodes in the sub-cluster range form a multi-hop routing network, and the rest sensor nodes outside the coverage range of all the sub-clusters in the cluster form the multi-hop routing network with the cluster head nodes directly in a multi-hop mode.
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