Energy-saving parallel access method, device and medium suitable for underwater acoustic sensor network

Abstract

The present invention discloses an energy-saving parallel access method, device and medium suitable for an underwater acoustic sensor network, wherein the method includes three stages: network initialization, network update and network communication, and the network will cycle through the update stage and the communication stage until the set network operation time is reached. The method utilizes the propagation delay of underwater acoustic communication to provide an opportunity for multiple nodes to transmit data in parallel, thereby increasing the parallel transmission opportunities of each node, so that the present invention has higher network throughput, lower end-to-end delay and higher single transmission success rate; the method also introduces a node sleep state, adds a sleep state to the node, so that the present invention has lower average energy consumption and longer network life. The present invention can be widely used in the field of underwater acoustic sensor networks.

Description

Technical Field

[0001] The present invention relates to the field of underwater acoustic sensor networks, and in particular to an energy-saving parallel access method, device and medium applicable to underwater acoustic sensor networks. Background Art

[0002] The ocean covers more than 70% of the Earth's surface and is vital to life on Earth. Hydroacoustic sensor networks have been widely used in various aspects of ocean research, such as water quality and pollution monitoring, oil exploration, and tsunami and earthquake disaster warning. Because radio waves attenuate greatly in seawater, land-based wireless communication media access control protocols cannot be directly used in hydroacoustic sensor networks. The design of hydroacoustic sensor network protocols also faces many challenges, such as narrow available bandwidth, high propagation delay, high energy loss, and the propagation channel is susceptible to noise, multipath propagation, and Doppler effect.

[0003] The media access control protocol allows multiple users to share channel resources, allowing users to access the channel and transmit data reasonably and fairly. As a major component of the underwater acoustic sensor network, the underwater acoustic media access control protocol needs to take into account performance indicators such as throughput, end-to-end delay and energy consumption. Therefore, it is a very necessary research to design an underwater acoustic sensor media access control protocol with high throughput, low end-to-end delay, high delivery rate and high energy efficiency.

[0004] Due to the slow propagation speed of underwater acoustic signals, the propagation delay in the media access process cannot be ignored, but this also creates conditions for multiple nodes in the underwater acoustic communication network to transmit data in parallel. In the first prior art, a parallel transmission MAC protocol is proposed, in which the receiving node can plan the transmission time from different nodes according to the distance from each sending node and the size of the data packet, so as to realize many-to-one parallel transmission. In the second prior art, the sink node will calculate a transmission sequence table for each sending node, and each sending node can perform concurrent data transmission according to the transmission sequence table. In the third prior art, a time slot-based underwater acoustic MAC protocol is also proposed, which determines the length of the time slot according to the propagation delay between the cluster head node and the member node, and selects the node with the largest propagation delay in the parallel transmission condition as the parallel transmission node of the sending node, thereby reducing the waste of time slots. Although the prior art provides a variety of technical solutions, none of these solutions can simultaneously meet high throughput, low end-to-end delay and high delivery rate. Summary of the invention

[0005] In order to solve at least one of the technical problems existing in the prior art to a certain extent, the object of the present invention is to provide an energy-saving parallel access method, device and medium suitable for an underwater acoustic sensor network.

[0006] The technical solution adopted by the present invention is:

[0007] An energy-saving parallel access method for an underwater acoustic sensor network includes three phases: an initialization phase, an update phase, and a communication phase;

[0008] The communication stage includes:

[0009] The node generates a time slot schedule according to the seed information, wherein the time slot schedule includes a series of random PT time slots and L time slots, wherein the node can send data packets in the PT time slot and can only receive data packets in the L time slot;

[0010] If the node and its one-hop neighbor are both in the PT time slot or the L time slot, the node is put into sleep state and waits to be re-awakened in the next time slot to save energy;

[0011] The source node sends a data packet to the destination node only when the source node is in the PT time slot and the destination node is in the L time slot. If the source node has data to be sent, the distance range from the neighboring node that is also in the PT time slot to the destination node is calculated using the triangle side length relationship formula.

[0012] According to the calculated distance range and the parallel transmission conditions of the data packets, the mutual interference probability between the source node and the neighboring nodes and the transmission probability of the source node are calculated. The source node sends the data packet at the beginning of the PT time slot according to the calculated transmission probability.

[0013] After the communication phase, each node updates its seed information and returns to the communication phase.

[0014] Furthermore, the initialization phase includes:

[0015] The node broadcasts a Hello packet to its one-hop neighbor, and the Hello packet is attached with the MAC address of the node and the sending timestamp;

[0016] After receiving the Hello packet, the one-hop neighbor calculates the difference between the current time and the sending timestamp to obtain the propagation delay between nodes, stores the propagation delay in the node propagation delay table, and calculates the distance between nodes.

[0017] Furthermore, the updating stage includes:

[0018] The node stores its own seed in a broadcast packet and broadcasts it at least twice to obtain the seed information of the two-hop neighbors, and obtains the time slot scheduling of the communication phase of the two-hop neighbors based on the obtained seed information.

[0019] Furthermore, in the initialization phase, the distance between the computing nodes is calculated as follows:

[0020] D(s,d)=T d-T s

[0021] Where D(s,d) represents the propagation delay between the source node s and the destination node d, T s Indicates the time when the source node s sends the Hello packet, T d Indicates the time when the destination node d receives the Hello packet;

[0022] The distance from the sending node to the receiving node is calculated as:

[0023] L(s,d)=k·D(s,d)

[0024] Here, k is the speed of sound waves in water.

[0025] Furthermore, the calculation is also in the step of calculating the distance range from the neighbor node to the destination node in the PT time slot. The calculation method of the distance range from the neighbor node to the destination node is as follows:

[0026] Assume source node s1 and its neighbor node s2;

[0027] The source node s1 needs to infer the propagation delay D(s2,d) from the neighbor node s2 to the destination node d through L(s1,d) and L(s1,s2) as follows:

[0028] |D(s1,d)-D(s1,s2)|≤D(s2,d)≤min{(D(s1,d)+D(s1,s2)),D max}

[0029] Among them, D max is the maximum propagation delay between nodes.

[0030] Furthermore, in the step of calculating the distance range and the parallel transmission condition of the data packet, the parallel transmission condition of the data packet is as follows:

[0031] |D(s1,d)-D(s2,d)|>T data

[0032] Where D(s1,d) represents the propagation delay between nodes s1 and d, D(s2,d) represents the propagation delay between nodes s2 and d, and T data Indicates the transmission delay of the data packet, T s represents the time when node s sends the Hello packet; the data parallel condition is that the difference in propagation delay from the two sending nodes to the receiving node is greater than the transmission delay of the data packet.

[0033] Furthermore, in the step of calculating the mutual interference probability between the source node and the neighboring nodes and the transmission probability of the source node, the method for calculating the mutual interference probability between the source node and the neighboring nodes is as follows:

[0034] According to the data packet parallel transmission condition, the data packet interference transmission condition is obtained:

[0035] D(s1,d)-T data ≤D(s2,d)≤D(s1,d)+T data

[0036] Take the intersection with the range of D(s2,d) to obtain the interference propagation delay range from neighbor node s2 to destination node d:

[0037] D(s2,d) disturb_min ≤D(s2,d) disturb ≤D(s2,d) disturb_max

[0038] If n nodes in the network are randomly distributed in a square area with a side length of A, and all nodes are reachable from each other, the cumulative distribution function F of the link distance between two nodes is d (γ) is:

[0039]

[0040] Where ξ is the ratio of the distance to the side length of the square.

[0041] Then the mutual interference probability p of the data packets sent by the source node s1 and the neighbor node s2 arriving at the destination node d is 1,2->d for:

[0042] p 1,2->d =F d (L(s2,d) disturb_max )-F d (L(s2,d) disturb_min )

[0043] Where, L(s2,d) disturb_max Indicates the maximum possible distance from neighbor node s2 to destination node d, L(s2,d) disturb_min represents the minimum possible distance from neighbor node s2 to destination node d; F d (L(s2,d) disturb_max ) represents the maximum possible distance L(s2,d) disturb_max The probability of F d (L(s2,d) disturb_min ) represents the minimum possible distance L(s2,d) disturb_min probability.

[0044] Furthermore, in the step of calculating the mutual interference probability between the source node and the neighboring nodes and the transmission probability of the source node, the method for calculating the transmission probability of the source node is as follows:

[0045]

[0046] Where m is the one-hop neighbor node of source node i, n is the total number of nodes in the region, and p i,m->d represents the mutual interference probability of one-hop neighbor node m to the source node.

[0047] Another technical solution adopted by the present invention is:

[0048] An energy-saving parallel access device suitable for an underwater acoustic sensor network, comprising:

[0049] at least one processor;

[0050] at least one memory for storing at least one program;

[0051] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0052] Another technical solution adopted by the present invention is:

[0053] A computer-readable storage medium stores a program executable by a processor, wherein the program executable by the processor is used to execute the method described above when executed by the processor.

[0054] The beneficial effects of the present invention are as follows: the present invention proposes a reasonable method for calculating the probability of node transmission, thereby increasing the parallel transmission opportunities of each node, so that the present invention has higher network throughput, lower end-to-end delay and higher single transmission success rate. In addition, a dormant state is added to the node, so that the present invention has lower average energy consumption and longer network life. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention or the drawings of related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 It is a mesh network topology diagram of an energy-saving parallel access method applicable to an underwater acoustic sensor network in an embodiment of the present invention;

[0057] Figure 2is a phase flow chart of an energy-saving parallel access method applicable to an underwater acoustic sensor network in an embodiment of the present invention;

[0058] Figure 3 It is a detailed step flow chart of one cycle of an energy-saving parallel access method applicable to an underwater acoustic sensor network in an embodiment of the present invention;

[0059] Figure 4 It is a schematic diagram of data packet parallel transmission conditions of an energy-saving parallel access method applicable to an underwater acoustic sensor network in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0061] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0063] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0064] like Figure 1As shown, the underwater acoustic sensor network of this embodiment adopts a mesh network topology structure, and each node can be used as a sending node and a receiving node. Depending on whether the node is in the PT time slot or the L time slot, the nodes in the network are randomly distributed in a square area with a side length of A and can detect the signals of other nodes.

[0065] like Figure 2 As shown, this embodiment provides an energy-saving parallel access method suitable for an underwater acoustic sensor network. The method uses the propagation delay of underwater acoustic communication to provide an opportunity for multiple nodes to transmit data in parallel, thereby having higher network throughput, lower end-to-end delay and higher single transmission success rate; the method also introduces a node sleep state, thereby having lower network energy consumption. The method includes three stages: network initialization, network update and network communication. The network will cycle in the update stage and the communication stage until the set network operation time is reached.

[0066] like Figure 3 As shown, this embodiment provides an energy-saving parallel access method applicable to an underwater acoustic sensor network, and the steps of one cycle are as follows:

[0067] S1. In the initialization phase of the underwater acoustic sensor network, a node broadcasts a Hello packet to its one-hop neighbor. The Hello packet contains information such as the MAC address of the node and the sending timestamp.

[0068] S2. After the node's one-hop neighbor receives the Hello packet, it calculates the difference between the current time and the sending time to obtain the propagation delay between nodes, stores it in the node propagation delay table, and calculates the distance between nodes.

[0069] S3. In the update phase of the underwater acoustic sensor network, the node stores its own seed in the broadcast packet and broadcasts it at least twice. The node can obtain the seed information of the two-hop neighbors, and the communication phase time slot scheduling of the two-hop neighbors can be inferred based on the seed information.

[0070] S4. In the communication phase of the underwater acoustic sensor network, the node generates a time slot schedule based on the seed, which includes a series of random PT time slots and L time slots. In the PT time slot, the node can send data packets, and in the L time slot, the node can only receive data packets.

[0071] S5. If the node and its one-hop neighbor are both in the PT time slot or the L time slot, the node is put into a dormant state and waits to be reawakened in the next time slot to save energy.

[0072] S6. The source node sends a data packet to the destination node only if the source node is in the PT time slot and the destination node is in the L time slot. If the source node has data to be sent, the distance range from its neighboring node that is also in the PT time slot to the destination node is calculated using the triangle side length relationship formula.

[0073] S7. According to the calculated distance range and the data packet parallel transmission condition, the mutual interference probability between the source node and the neighboring nodes and the sending probability of the source node are calculated. The source node sends the data packet at the beginning of the PT time slot according to the calculated sending probability.

[0074] like Figure 4 As shown, the conditions for parallel transmission of data packets are as follows:

[0075] |D(s1,d)-D(s2,d)|>T data

[0076] Where D(s1,d) represents the propagation delay between nodes s1 and d, D(s2,d) represents the propagation delay between nodes s2 and d, and T data Indicates the transmission delay of the data packet, T s represents the sending time of the Hello packet sent by node s. The data parallel condition is that the difference in propagation delay from the two sending nodes to the receiving node is greater than the transmission delay of the data packet.

[0077] To achieve the condition of concurrent data packet transmission, the sending node s needs to broadcast a Hello packet to its neighboring nodes and attach information such as the MAC address and sending timestamp of the node to the Hello packet. After receiving the Hello packet, the receiving node d needs to record the current packet receiving time and extract the sending time in the Hello packet. Then the propagation delay between node s and node d can be calculated using the following method:

[0078] D(s,d)=T d -T s

[0079] Where D(s,d) represents the propagation delay between the source node s and the destination node d, T s Indicates the time when the source node s sends the Hello packet, T d Indicates the time when the destination node d receives the Hello packet. The distance from the sending node to the receiving node is calculated as:

[0080] L(s,d)=1500·D(s,d)

[0081] Among them, the propagation speed of sound waves in water is about 1500m / s.

[0082] Taking the source node s1 and its neighbor node s2 as an example, to calculate the distance range from the neighbor node s2 to the destination node d, the source node s1 needs to infer the propagation delay D(s2,d) from the neighbor node s2 to the destination node d through L(s1,d) and L(s1,s2):

[0083] |D(s1,d)-D(s1,s2)|≤D(s2,d)≤min{(D(s1,d)+D(s1,s2)),D max}

[0084] Among them, D max is the maximum propagation delay between nodes;

[0085] According to the data packet parallel transmission condition, the data packet interference transmission condition can be obtained:

[0086] D(s1,d)-T data ≤D(s2,d)≤D(s1,d)+T data

[0087] By taking the intersection with the range of D(s2,d), we can get the interference propagation delay range from neighbor node s2 to destination node d:

[0088] D(s2,d) disturb_min ≤D(s2,d) disturb ≤D(s2,d) disturb_max

[0089] Assume that n nodes in the network are randomly distributed in a square area with a side length of A, and all nodes are reachable to each other. The cumulative distribution function F of the link distance between two nodes is d (γ) is:

[0090]

[0091] Then the mutual interference probability p of the data packets sent by source nodes s1 and s2 arriving at destination node d is 1,2->d for:

[0092] p 1,2->d =F d (L(s2,d) disturb_max )-F d (L(s2,d) disturb_min )

[0093] According to the above, for source node i, it is necessary to accumulate the mutual interference probability between it and all possible interfering neighbor nodes, and then the calculation method of the transmission probability of source node i can be obtained:

[0094]

[0095] After executing the above steps, the communication phase ends, and each node updates its seed information, that is, the network is updated. After the network is updated, it re-enters the communication phase.

[0096] In summary, the method of this embodiment has the following advantages and beneficial effects compared with the prior art:

[0097] (1) In the underwater acoustic sensor network of the present invention, a reasonable node transmission probability calculation method is proposed based on the parallel transmission conditions of data packets, thereby improving the parallel transmission opportunities of each node, so that the present invention has higher network throughput, lower end-to-end delay and higher single transmission success rate.

[0098] (2) In the underwater acoustic sensor network of the present invention, a sleep state is added to the nodes, so that the present invention has lower average energy consumption and longer network life.

[0099] This embodiment also provides an energy-saving parallel access device applicable to an underwater acoustic sensor network, including:

[0100] at least one processor;

[0101] at least one memory for storing at least one program;

[0102] When the at least one program is executed by the at least one processor, the at least one processor implements Figure 3 The method shown.

[0103] An energy-saving parallel access device suitable for an underwater acoustic sensor network in this embodiment can execute an energy-saving parallel access method suitable for an underwater acoustic sensor network provided by an embodiment of the method of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0104] The present application also discloses a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes Figure 3 The method shown.

[0105] This embodiment also provides a storage medium, which stores instructions or programs that can execute an energy-saving parallel access method suitable for an underwater acoustic sensor network provided by an embodiment of the method of the present invention. When the instructions or programs are run, any combination of implementation steps of the method embodiment can be executed, and the corresponding functions and beneficial effects of the method can be obtained.

[0106] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0107] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0108] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0110] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0111] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0112] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0113] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0114] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An energy-saving parallel access method suitable for an underwater acoustic sensor network, characterized in that: It includes three phases: initialization phase, update phase and communication phase; The communication stage includes: The node generates a time slot schedule according to the seed information, wherein the time slot schedule includes a series of random PT time slots and L time slots, wherein the node can send data packets in the PT time slot and can only receive data packets in the L time slot; If the node and its one-hop neighbor are both in the PT time slot or the L time slot, the node is put into sleep state and waits to be re-awakened in the next time slot to save energy; The source node sends a data packet to the destination node only when the source node is in the PT time slot and the destination node is in the L time slot. If the source node has data to be sent, the distance range from the neighboring node that is also in the PT time slot to the destination node is calculated using the triangle side length relationship formula. According to the calculated distance range and the parallel transmission conditions of the data packets, the mutual interference probability between the source node and the neighboring nodes and the transmission probability of the source node are calculated. The source node sends the data packet at the beginning of the PT time slot according to the calculated transmission probability. After the communication phase, each node updates its seed information and returns to the communication phase; The initialization phase includes: The node broadcasts a Hello packet to its one-hop neighbor, and the Hello packet is attached with the MAC address of the node and the sending timestamp; After receiving the Hello packet, the one-hop neighbor calculates the difference between the current time and the sending timestamp to obtain the propagation delay between nodes, stores the propagation delay in the node propagation delay table, and calculates the distance between nodes; The updating phase includes: The node stores its own seed in a broadcast packet and broadcasts it at least twice to obtain the seed information of the two-hop neighbor, and obtains the time slot scheduling of the two-hop neighbor's communication phase based on the obtained seed information; In the step of calculating the distance range and the parallel transmission condition of the data packets, the parallel transmission condition of the data packets is as follows: |D(s1,d)-D(s2,d)|>T data Where D(s1,d) represents the propagation delay between nodes s1 and d, D(s2,d) represents the propagation delay between nodes s2 and d, and T data Represents the transmission delay of the data packet; the data parallel condition is that the difference between the propagation delays from the two sending nodes to the receiving node is greater than the transmission delay of the data packet; In the step of calculating the mutual interference probability between the source node and the neighboring nodes and the transmission probability of the source node, the method for calculating the mutual interference probability between the source node and the neighboring nodes is as follows: According to the data packet parallel transmission condition, the data packet interference transmission condition is obtained: D(s1,d)-T data ≤D(s2,d)≤D(s1,d)+T data Take the intersection with the range of D(s2,d) to obtain the interference propagation delay range from neighbor node s2 to destination node d: D(s2,d) disturb_min ≤D(s2,d) disturb ≤D(s2,d) disturb_max If n nodes in the network are randomly distributed in a square area with a side length of A, and all nodes are reachable from each other, the cumulative distribution function F of the link distance between two nodes is d (γ) is: Where ξ is the ratio of the distance to the side length of the square; Then the mutual interference probability p of the data packets sent by the source node s1 and the neighbor node s2 arriving at the destination node d is 1,2->d for: p 1,2->d =F d (L(s2,d) disturb_max )-F d (L(s2,d) disturb_min ) Where, L(s2,d) disturb_max Indicates the maximum possible distance from neighbor node s2 to destination node d, L(s2,d) disturb_min represents the minimum possible distance from neighbor node s2 to destination node d; F d (L(s2,d) disturb_max ) represents the maximum possible distance L(s2,d) disturb_max The probability of F d (L(s2,d) disturb_min ) represents the minimum possible distance L(s2,d) disturb_min probability; In the step of calculating the mutual interference probability between the source node and the neighboring nodes and the sending probability of the source node, the sending probability of the source node i is calculated as follows: Where m is the one-hop neighbor node of source node i, n is the total number of nodes in the region, and p i,m->d represents the mutual interference probability of one-hop neighbor node m to the source node.

2. The energy-saving parallel access method applicable to an underwater acoustic sensor network according to claim 1, characterized in that: In the initialization phase, the distance between the computing nodes is calculated as follows: D(s,d)=T d -T s Where D(s,d) represents the propagation delay between the source node s and the destination node d, T s Indicates the time when the source node s sends the Hello packet, T d Indicates the time when the destination node d receives the Hello packet; The distance from the sending node to the receiving node is calculated as: L(s,d)=k·D(s,d) Here, k is the speed of sound waves in water.

3. The energy-saving parallel access method applicable to an underwater acoustic sensor network according to claim 1, characterized in that: The calculation is also in the step of the distance range from the neighbor node to the destination node in the PT time slot. The calculation method of the distance range from the neighbor node to the destination node is as follows: Assume source node s1 and its neighbor node s2; The source node s1 needs to infer the propagation delay D(s2,d) from the neighbor node s2 to the destination node d through L(s1,d) and L(s1,s2) as follows: |D(s1,d)-D(s1,s2)|≤D(s2,d)≤min{(D(s1,d)+D(s1,s2)),D max } Among them, D max is the maximum propagation delay between nodes.

4. An energy-saving parallel access device suitable for an underwater acoustic sensor network, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 3.

5. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 3 when executed by the processor.

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