Multi-AUV cooperative data collection method based on region division in underwater acoustic sensor network

Abstract

The invention discloses a multi-AUV cooperative data collection method based on region division in an underwater acoustic sensor network. The multi-AUV cooperative data collection method comprises thefollowing steps: (1) carrying out node state perception and region division of an underwater network; (2) predicting the state of multiple AUVs; (3) planning and updating a data collection path of the AUV; and (4) scheduling type data forwarding. According to the invention, on the basis of network region division; an effective data collection method is executed by utilizing the spatial distribution characteristics and rapid and flexible energy points of multiple AUVs, and the multi-AUV cooperative collection can effectively improve the underwater data collection efficiency, balance the energyconsumption of the network, reduce the data collection delay and prolong the service life of the network while meeting the current service requirements.

Description

technical field [0001] The invention belongs to the technical field of multi-AUV data collection of an underwater acoustic sensor network, and in particular relates to a multi-AUV cooperative data collection method based on area division in an underwater acoustic sensor network. Background technique [0002] The nodes in the underwater wireless sensor network are randomly deployed in the monitoring area that the application system is interested in, and the nodes form an underwater wireless sensor network through self-organization. To perform data collection tasks in an underwater environment, at least three modules are required: a common sensor node, a sink node (Sink) and a task management center. Ordinary nodes can use acoustic communication to send the perceived data to the sink through multi-hop, or use the cluster head to collect the data of nodes in the cluster through the clustering mechanism, and then send it to the sink through inter-cluster multi-hop. Sink sends t...

AI Technical Summary

Problems solved by technology

Since the underwater environment is not a static environment, it is impossible to plan specific regional boundaries, and it is difficult to control the size of the underwater wireless sensor network.

At the same time, the sensing range and data transmission range of ordinary nodes are limited, and a large number of sensor nodes need to be deployed in the environment;

[0005] (2) Node energy is limited

Nodes deployed underwater are constrained by cost and volume. The power of nodes can only be provided by batteries, and it is difficult to replace batteries and replenish power.

The node will die when its energy is exhausted, which will easily lead to imperceptible routing holes and affect the performance of the network;

[0006] (3) Underwater acoustic signal attenuation is serious

This characteristic greatly limits the selectable frequency of underwater communication, which inevitably brings problems of high delay and low transmission success rate;

[0007] (4) Node positioning problem

Different from land sensor nodes, due to the influence of water current and sea wind, the position of underwater sensors is dynamic and uncertain, and it is difficult to locate by GPS. However, the positioning method based on acoustic signals has low accuracy and takes too long. question

Images