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CN109587698B - Virtual force corrected directed sensor network energy-saving coverage method - Google Patents

Virtual force corrected directed sensor network energy-saving coverage method Download PDF

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CN109587698B
CN109587698B CN201811501704.1A CN201811501704A CN109587698B CN 109587698 B CN109587698 B CN 109587698B CN 201811501704 A CN201811501704 A CN 201811501704A CN 109587698 B CN109587698 B CN 109587698B
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CN109587698A (en
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蒋一波
方剑
王伟
何成龙
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Hangzhou Yanzhi Technology Co ltd
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Zhejiang University of Technology ZJUT
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H04W16/20—Network planning tools for indoor coverage or short range network deployment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/24—Cell structures
    • H04W16/28—Cell structures using beam steering
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
    • H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. Transmission Power Control [TPC] or power classes
    • H04W52/04—Transmission power control [TPC]
    • H04W52/30—Transmission power control [TPC] using constraints in the total amount of available transmission power
    • H04W52/36—Transmission power control [TPC] using constraints in the total amount of available transmission power with a discrete range or set of values, e.g. step size, ramping or offsets
    • H04W52/365—Power headroom reporting
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

一种基于虚拟力修正的有向传感器网络节能覆盖方法，包括以下步骤：(1)在监测区域内随机部署多个有向传感器节点；(2)计算各节点的质心点ci，初始位置

Figure DDA0001898346520000011
(3)对节点si计算其所有邻居节点为集合ψi；(4)虚拟力修正的节能覆盖方法；(5)节点旋转决策；(6)计算节点si指向对应质心点ci的向量并单位化，得到节点si最终感知方向信息，获得节点感知方向的输出集。本发明在力求区域覆盖质量提升的情况下，来达到节点能耗均衡的目标，延长整个网络的覆盖时间。

Figure 201811501704

A method for energy-saving coverage of a directed sensor network based on virtual force correction, comprising the following steps: (1) randomly deploying a plurality of directed sensor nodes in a monitoring area; (2) calculating the centroid point c i of each node, the initial position

Figure DDA0001898346520000011
(3) Calculate all its neighbor nodes as set ψ i for node si ; (4) Energy-saving coverage method of virtual force correction; (5) Node rotation decision; (6) Calculate the vector of node si pointing to the corresponding centroid point c i And unitize, get the final sensing direction information of node si , and obtain the output set of the sensing direction of the node. The present invention achieves the goal of balancing the energy consumption of nodes and prolongs the coverage time of the entire network under the condition of improving the quality of regional coverage.

Figure 201811501704

Description

Virtual force corrected directed sensor network energy-saving coverage method
Technical Field
The invention relates to a directed sensor network, in particular to a method for optimizing the energy conservation of area monitoring coverage in the directed sensor network.
Background
The directional sensor such as video, infrared and ultrasonic sensors has the capability of collecting, transmitting and processing multimedia information such as data, images and videos. The visual monitoring of the sensor has the characteristics of convenience, intuition, rich information content and the like. The method has wide application in the aspects of industry, agriculture, military, monitoring security and environmental monitoring in recent years, and has good development prospect.
The area coverage control is an important research hotspot in a directed sensor network, however, the directed sensor is different from the traditional sensor, because the directed sensor is limited by the visual field of the self equipment, the sensing range of the directed sensor is a fan-shaped area which takes a node as the center of a circle and the radius as the sensing distance, only one direction can be sensed at a certain moment, and other directions are coverage blind areas, the traditional area coverage optimization algorithm is not suitable for the directed sensor. The coverage method for adjusting the sensing direction of the sensor by using the virtual potential field can effectively improve the coverage rate of the area and optimize the monitoring quality of the area, but also brings another problem. Usually, directional sensors have certain energy, and different rotation angles often cause uneven energy consumption of each node, and premature death of individual nodes due to energy consumption can cause premature paralysis of the whole network, so that the purpose of area monitoring cannot be achieved.
Therefore, how to improve the coverage rate of the directional sensor network on the area monitoring and balance the node energy consumption by using the virtual force, and maximizing the network survival time becomes a problem which needs to be solved urgently.
There are many different schemes for solving the problem of area coverage quality and energy consumption balance through a directed sensor network, one method is to increase the number of directed sensor nodes and search for as many coverage subsets as possible, each subset satisfying the area coverage for a period of time, although this method can fundamentally solve the coverage problem, its implementation cost is high. In addition, an optimization strategy is designed according to a region coverage optimization algorithm and by combining node energy consumption indexes, so that the rotation of the sensing direction of the sensor improves the coverage quality of the region while balancing the energy consumption, and the monitoring effect of high quality and long survival time is achieved. Therefore, the energy consumption index and the perception direction of the node are reasonably scheduled to be the key of the problem, and the area optimization coverage algorithm giving consideration to the energy consumption of the node has great significance.
Disclosure of Invention
In order to overcome the defects of poor area monitoring effect, low coverage quality and short network life cycle of the existing directed sensor network, the invention provides a sensor energy-saving coverage method based on virtual force correction in the directed sensor network, which can reasonably and appropriately rotate the sensing direction of a node by using the virtual force while considering the energy consumption of the node, and improve the coverage quality of a monitoring area.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a directed sensor network energy-saving coverage method based on virtual force correction comprises the following steps:
(1) randomly deploying a plurality of directed sensor nodes in a monitoring area, and numbering the directed sensor nodes, wherein S is equal to { S }i1,2, …, n, each directed sensor node representing S by a six-element groupi＝<Pi，R，α，θ，ω，E0>Respectively representing node position, sensing radius, sensing visual angle, sensing direction angle, rotation angular velocity and node initial energy;
(2) calculating the centroid point c of each nodeiInitial position
Figure GDA0003308787150000021
The position of a centroid point is on a sector symmetry axis and is 2R sin alpha/3 alpha away from the center of a circle, each sensor node has only one centroid point corresponding to the centroid point, and the adjustment of the sensing direction of the node is converted into the circular motion of the centroid of a sector area around the node;
(3) to node siCalculate all its neighbor nodes as set psiiM represents the number of elements in the neighbor node set, and if and only if there is a directed sensor node siAnd sjWhen the Euclidean distance between the two nodes is not more than two times of the sensing radius R of the node, the two nodes are mutually adjacent nodes;
(4) the energy-saving covering method for correcting the virtual force comprises the following steps:
(4.1) according to node siNeighbor node set psiiCalculating a node sjTo node siVirtual repulsive force of
Figure GDA0003308787150000031
Figure GDA0003308787150000032
Wherein D isijRepresents the center of mass ciTo the centroid point cjThe Euclidean distance of (c); kRDenotes the coefficient of repulsion, KR＝1KR＝1；αijIs unit vector, represents the direction of repulsion, and is formed by a center of mass point cjPoint to the center of mass ci；
(4.2) node s is coupled by a neighbor nodeiThe virtual repulsive force is subjected to vector sum calculation to obtain a virtual resultant force
Figure GDA0003308787150000033
Figure GDA0003308787150000034
(4.3) according to node siResidual energy E of, adding a correction term to the virtual repulsion
Figure GDA0003308787150000035
Where e is the energy weight constant, so the improved virtual force is,
Figure GDA0003308787150000036
the node energy is less, the virtual force is smaller, the rotation angle is smaller, the rotation inertia is realized, and the energy is saved;
(5) node rotation decision, the process is as follows:
(5.1) computing node centroid point c by orthogonal decompositioniVirtual resultant force currently being experienced
Figure GDA0003308787150000037
Component along tangent of arc
Figure GDA0003308787150000038
Confirmation of center of mass ciThe direction of rotation of;
(5.2) if
Figure GDA0003308787150000039
Calculating the rotation angle theta of the centroid point, wherein epsilon represents the forced rotation threshold value of the centroid point, and when
Figure GDA00033087871500000310
The node is shown to reach a stable state, namely the node is considered to be optimized and adjusted or the residual energy is less, and the node does not need to rotate;
Figure GDA0003308787150000041
wherein, thetamaxThe maximum rotation angle is delta t omega, thetaminIndicating the initially set minimum angle of rotation, k0Is the unit conversion coefficient of force and angle;
(5.3) nodal centroid point ciAfter the angle theta is rotated, the new position of the centroid point of the node is recalculated
Figure GDA0003308787150000042
(5.4) calculating the residual energy E of the node each time according to the node rotation angle theta:
E＝E-(k1Rβ·Δt+k2θ)
wherein k is1、k2To coefficient of energy consumption, RβThe energy consumption power when the radius of the node is R, beta is an index, and delta t is the interval time of each adjustment;
(5.5) circulating the steps from (4.1) until the adjusting times are reached or each node reaches a stable state;
(6) computing node siPoint to the corresponding centroid point ciIs unified to obtain a node siAnd finally, sensing direction information to obtain an output set of the node sensing direction.
The technical conception of the invention is as follows: some directed sensor nodes are randomly deployed in a monitoring area, in order to improve the coverage quality of the area, the sensing direction of the sensor nodes is adjusted by depending on a coverage strategy of a virtual potential field, and meanwhile, the problems of energy voids and premature network death caused by uneven node energy consumption are considered, the calculation of node energy consumption indexes is added, so that the virtual force is corrected, and the network time is prolonged. The energy-saving coverage method can calculate the virtual repulsion force of the neighbor nodes borne by the nodes in each iterative adjustment process, reasonably rotates a proper angle according to the self residual energy, gives consideration to energy consumption and improves the coverage quality.
The beneficial effects of the invention are mainly as follows: under the condition of striving for improving the coverage quality of the area, the aim of balancing the energy consumption of the nodes is achieved, and the coverage time of the whole network is prolonged.
Drawings
Fig. 1 is a schematic diagram of virtual repulsive force between directed sensor nodes in a virtual potential field.
Fig. 2 is a flowchart of a directed sensor network energy-saving coverage method based on virtual force correction.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, a method for energy-saving coverage of a directed sensor network based on virtual force correction includes the following steps:
the first step is as follows: randomly deploying directed sensor nodes in a target monitoring area, and numbering the directed sensor nodes with the number S ═ S { (S)i|i＝1，2，…，n}；
The second step is that: calculating to obtain the center of mass c of each nodeiInitial position
Figure GDA0003308787150000053
The third step: to node siAll neighbor nodes of the node are counted as a set psiiM represents the number of elements in the neighbor node set;
the fourth step: node siAccording to the neighbor node set psiiCalculating the node s in the setjTo node siVirtual repulsive force of
Figure GDA0003308787150000051
Figure GDA0003308787150000052
Wherein D isijRepresents the center of mass ciTo the centroid point cjThe Euclidean distance of (c); kRDenotes the coefficient of repulsion, KR＝1；αijIs unit vector, represents the direction of repulsion, and is formed by a center of mass point cjPoint to the center of mass ci；
The fifth step: node s is coupled by neighbor nodeiVirtual repulsive force of
Figure GDA0003308787150000061
Calculating vector sum to obtain virtual resultant force
Figure GDA0003308787150000062
Figure GDA0003308787150000063
And a sixth step: improving virtual force according to node siAdding correction term to virtual repulsion according to the ratio of self residual energy E to initial energy
Figure GDA0003308787150000064
Wherein e is an energy weight constant, the improved virtual force is,
Figure GDA0003308787150000065
the seventh step: calculation of repulsive force component, orthogonal decomposition of centroid ciSubject to virtualResultant force
Figure GDA0003308787150000066
Calculating the component of tangent line along arc
Figure GDA0003308787150000067
Confirmation of center of mass ciThe direction of rotation of;
eighth step: calculating the angle of rotation if
Figure GDA0003308787150000068
Calculating the rotation angle theta of the centroid point according to a formula, wherein epsilon represents the forced rotation threshold value of the centroid point, and when
Figure GDA0003308787150000069
The node is shown to reach a stable state, namely the node is considered to be optimized and adjusted or the residual energy is less, and the node does not need to rotate;
Figure GDA00033087871500000610
wherein, thetamaxThe maximum rotation angle representing the initial setting is delta t omega, thetaminIndicating the initially set minimum angle of rotation, k0Is the unit conversion coefficient of force and angle;
the ninth step: for node s after angle of rotation thetaiRecalculating new positions of centroid points
Figure GDA00033087871500000611
The tenth step: updating nodes siCalculating the node residual energy E each time according to the node rotation angle theta:
E＝E-(k1Rβ·Δt+k2θ)
wherein k is1、k2To coefficient of energy consumption, RβMonitoring energy consumption power when the radius of a node is R, wherein beta is an index and is usually 2-3, and delta t is the interval time of each adjustment;
the eleventh step: the fourth step is circulated until the adjustment times are reached or each node reaches a stable state;
the twelfth step: computing node siPoint to the corresponding centroid point ciIs unified to obtain a node siAnd finally, sensing direction information to obtain an output set of sensing directions of all nodes.
The thirteenth step: and (4) when the rotation angle of the node reaches a stable state, executing area coverage monitoring until the energy is exhausted, and finishing the monitoring.
The sensing range of the directed sensor model applied by the invention is a sector area which takes a node as the center of a circle and the sensing distance as the radius, the rotation of the directed sensor model by virtual force in a virtual potential field shows that the centroid point of the sector area makes circular motion around the node, and a stress analysis graph of the virtual repulsive force of the neighbor node applied to the node is shown in figure 1.
The energy consumption index of the directional sensor considers two aspects of sensing distance and rotation angle, and the energy consumption of the nodes can be influenced by the change of the sensing radius of the nodes and the rotation of the sensing direction. Once the nodes are deployed, the sensing radius is not changed any more, but the sensing radius is still used as a factor influencing the energy consumption power of the nodes in unit time.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and not restrictive, and various changes and modifications to the technical solutions of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are intended to fall within the scope of the present invention defined by the appended claims.

Claims (1)

1. A directed sensor network energy-saving coverage method based on virtual force correction is characterized by comprising the following steps:
(1) randomly deploying a plurality of directed sensor nodes in a monitoring area, and numbering the directed sensor nodes, wherein S is equal to { S }i1,2, …, n, each directed sensor node representing S by a six-element groupi＝<Pi，R，α，θ，ω，E0>Respectively representing the node position, the sensing radius, the sensing view angle,sensing a direction angle, a rotation angular velocity and a node initial energy;
(2) calculating the centroid point c of each nodeiAnd centroid point location
Figure FDA0003308787140000017
The position of a centroid point is on a sector symmetry axis and is 2Rsin alpha/3 alpha away from the center of a circle, each sensor node is provided with only one centroid point corresponding to the sensor node, and the adjustment of the sensing direction of the node is converted into the circular motion of the centroid of a sector area around the node;
(3) to node siCalculate all its neighbor nodes as set psiiM represents the number of elements in the neighbor node set, and if and only if there is a directed sensor node siAnd sjWhen the Euclidean distance between the two nodes is not more than two times of the sensing radius R of the node, the two nodes are mutually adjacent nodes;
(4) the energy-saving covering method for correcting the virtual force comprises the following steps:
(4.1) according to node siNeighbor node set psiiCalculating a node sjTo node siVirtual repulsive force of
Figure FDA0003308787140000011
Figure FDA0003308787140000012
Wherein D isijRepresents the center of mass ciTo the centroid point cjThe Euclidean distance of (c); kRDenotes the coefficient of repulsion, KR＝1；αijIs unit vector, represents the direction of repulsion, and is formed by a center of mass point cjPoint to the center of mass ci；
(4.2) node s is coupled by a neighbor nodeiThe virtual repulsive force is subjected to vector sum calculation to obtain a virtual resultant force
Figure FDA0003308787140000013
Figure FDA0003308787140000014
(4.3) according to node siResidual energy E of, adding a correction term to the virtual repulsion
Figure FDA0003308787140000015
Where e is the energy weight constant, so the improved virtual force is,
Figure FDA0003308787140000016
the node energy is less, the virtual force is smaller, the rotation angle is smaller, the rotation inertia is realized, and the energy is saved;
(5) node rotation decision, the process is as follows:
(5.1) computing node centroid point c by orthogonal decompositioniVirtual resultant force currently being experienced
Figure FDA0003308787140000026
Component along tangent of arc
Figure FDA0003308787140000021
Confirmation of center of mass ciThe direction of rotation of;
(5.2) if
Figure FDA0003308787140000022
Calculating the rotation angle theta of the centroid point, wherein epsilon represents the forced rotation threshold value of the centroid point, and when
Figure FDA0003308787140000023
The node is shown to reach a stable state, namely the node is considered to be optimized and adjusted or the residual energy is less, and the node does not need to rotate;
Figure FDA0003308787140000024
wherein, thetamaxThe maximum rotation angle is delta t omega, thetaminIndicating the initially set minimum angle of rotation, k0Is the unit conversion coefficient of force and angle;
(5.3) nodal centroid point ciAfter the angle theta is rotated, the new position of the centroid point of the node is recalculated
Figure FDA0003308787140000025
(5.4) calculating the residual energy E of the node each time according to the node rotation angle theta:
E＝E-(k1Rβ·Δt+k2θ)
wherein k is1、k2To coefficient of energy consumption, RβThe energy consumption power when the radius of the node is R, beta is an index, and delta t is the interval time of each adjustment;
(5.5) circulating the steps from (4.1) until the adjusting times are reached or each node reaches a stable state;
(6) computing node siPoint to the corresponding centroid point ciIs unified to obtain a node siAnd finally, sensing direction information to obtain an output set of the node sensing direction.
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