Animal migration monitoring method based on self-repairing sensor network

Abstract

The invention discloses an animal migration monitoring method based on a self-repairing sensor network. The animal migration monitoring method comprises the following steps: throwing monitoring nodes and sink nodes on a monitoring zone of an ROI (Region of Interest) according to a set number; dividing the monitoring nodes into a plurality of node clusters and node sets; all the monitoring nodes determine own world coordinates, and the monitoring nodes acquire world coordinates of other monitoring nodes; the mobile nodes in the node set search fence gaps among the static nodes to obtain fence gap information; determining the number of dynamic nodes required for repairing each fence gap, determining a repairing position range of the corresponding number, solving the shortest moving distance from each dynamic node to the corresponding repairing position of each fence gap, and constructing a cost matrix; and based on the cost matrix, obtaining a repairing scheme in which the moving distance of the dynamic node is the shortest globally, moving the related dynamic node to a repairing position corresponding to the fence gap in the repairing scheme, and repairing the fence gap.

Description

Technical Field

[0001] The present invention belongs to the technical field of personalized recommendation, and more specifically, the present invention relates to an animal migration monitoring method based on a self-repairing sensor network. Background Art

[0002] With the advancement of information technology and the times, Wireless Sensor Networks (WSN) have been widely used in health monitoring, environmental monitoring, regional security and other fields.

[0003] Animal migration is an important part of the natural ecosystem. Understanding and monitoring animal migration can help us protect and restore biodiversity. Animal migration is an important research object of animal behavior and adaptability. Through the observation and analysis of animal migration, we can reveal scientific issues such as the ecological habits of animals, the laws of species gene flow, and the interactions between species. The migration of many animals is related to resource utilization. Understanding the migration paths and times of animals can help us establish a weather vane for climate and environmental changes, and achieve sustainable development through reasonable resource management and energy utilization.

[0004] Traditional detection methods generally involve installing small sensor devices on animals. These sensors can record the location of the animals. However, the above method has the problem that the sensor devices are complicated to install and the sensor devices are prone to falling off when the animals are alive. Summary of the invention

[0005] The present invention provides an animal migration monitoring method based on a self-repairing sensor network, aiming to improve the above problems.

[0006] The present invention is implemented as follows: a method for monitoring animal migration based on a self-repairing sensor network, the method comprising the following steps:

[0007] (1) Spread the monitoring nodes and sink nodes on the monitoring belt of the ROI area according to the set number, and the monitoring nodes include dynamic nodes and static nodes with a set ratio;

[0008] (2) Divide the monitoring nodes on the monitoring belt into several node clusters and node sets;

[0009] (3) All monitoring nodes determine their own world coordinates. Monitoring nodes in a node cluster obtain the world coordinates of other monitoring nodes. Dynamic nodes in a node cluster obtain the world coordinates of other monitoring nodes.

[0010] (4) Find the fence gap between static nodes and obtain fence gap information, including: fence gap position, fence gap angle and fence gap distance;

[0011] (5) Determine the number of dynamic nodes required to repair each fence gap and determine the corresponding number of repair position ranges, obtain the shortest moving distance from each dynamic node to the corresponding repair position of each fence gap, and construct a cost matrix;

[0012] (6) Based on the cost matrix, a repair scheme with the shortest global moving distance of dynamic nodes is obtained, and the relevant pairs of dynamic nodes are moved to the repair positions corresponding to the fence gaps in the repair scheme to repair the fence gaps.

[0013] Furthermore, after step (6), the method further includes:

[0014] (7) Calculate the ratio of the monitoring length to the length of the monitoring zone. If the ratio is greater than a set threshold, search for redundant nodes in the ROI area and detect whether the redundant nodes are dynamic nodes.

[0015] (8) If the detection result is yes, the redundant node is controlled to move to the repair position of the fence gap with the longest moving distance in the repair scheme, and when the power of the dynamic node used for repair is lower than the set power threshold, the corresponding redundant node is awakened; if the detection result is no, the redundant node and its neighbor monitoring node work alternately.

[0016] Furthermore, the node cluster division method is as follows:

[0017] (21) Check whether there are other monitoring nodes within the communication radius of the current monitoring node. If so, execute step (22); if not, execute step (23);

[0018] (22) Add the other monitoring nodes within its communication radius to the node set where the node is located, take the monitoring node newly added to the current node set as the current monitoring node, and execute step (21);

[0019] (23) The monitoring node closest to the current monitoring node on the monitoring belt is used as the new monitoring node, and the other monitoring nodes closest to the current monitoring node are placed in the new node set. The monitoring node currently placed in the current node set is used as the current node, and step (21) is executed;

[0020] (24) After the current monitoring node is the last monitoring node on the monitoring belt, the node cluster with three or more monitoring nodes is a node cluster.

[0021] Furthermore, the method for determining the world coordinates of the monitoring node itself is as follows:

[0022] The sink node sends information to the outside in real time, including its own world coordinates (s x ,s y) and the sending angle θ, all monitoring nodes in the ROI area receive the information sent by the sink node and then calculate their own world coordinates (r x ,r y ), (r x ,r y )=(s x +d*cosθ,s y +d*sinθ), where d is the distance between the corresponding monitoring node and the sink node, which is determined based on the signal strength of the signal sent by the sink node received by the corresponding monitoring node.

[0023] Furthermore, when monitoring node m1 is located in node cluster C k , the monitoring node p is not located in the node cluster C k When , the method for monitoring node m1 to determine the world coordinates of monitoring node p is as follows:

[0024] Node Cluster C k Arbitrarily select two monitoring nodes m2 and monitoring node m3. Monitoring nodes m1, monitoring node m2, and monitoring node m3 read the signal strength of the signal emitted by monitoring node p, determine the distance d1, distance d2, and distance d3 from monitoring node p to monitoring node m1, monitoring node m2, and monitoring node m3 based on the signal strength, and calculate the world coordinates of monitoring node p based on distance d1, distance d2, and distance d3.

[0025] Furthermore, when the dynamic node e is located in the node set J k , the monitoring node p is not located in the node set J k When , the method for the dynamic node to determine the world coordinates of the monitoring node p is as follows:

[0026] The dynamic node e reads the signal strength of the signal sent by the monitoring node p at the current first position, and determines the distance d1 between the current position of the dynamic node e and the monitoring node p;

[0027] The dynamic node e controls itself to move to the second position, and the dynamic node e reads the signal strength of the signal sent by the monitoring node p at the second position to determine the distance d2 between the current position of the dynamic node e and the monitoring node p;

[0028] The dynamic node e controls itself to move to the third position. The dynamic node e reads the signal strength of the signal sent by the monitoring node p at the third position, and determines the distance d3 between the current position of the dynamic node e and the monitoring node p. The first position, the second position, and the third position form an equilateral triangle.

[0029] The world coordinates of the monitoring node p are calculated based on the distances d1, d2, and d3.

[0030] Furthermore, the calculation formula for the minimum number of dynamic nodes n of the fence gap is as follows:

[0031]

[0032] Among them, r is the perception radius of the moving object, gap ij is the distance between the corresponding fence gaps.

[0033] Furthermore, when a total of n dynamic nodes are needed to repair the fence gap, the kth dynamic node e(x e ,y e ) The following conditions must be met:

[0034] When j <y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i -k·Δy<y e <y j +(n-k+1)Δy;

[0035] When j ≥y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i +k·Δy<y e <y j -(n-k+1)Δy;

[0036] And the dynamic node e is located on the patch line: y e =(x e -x i )tanα+y i .

[0037] Among them, Δx and Δy represent the horizontal component and vertical component of the tangent point between the current dynamic node and the perception radius, respectively.

[0038] Furthermore, the shortest distance between the mobile node and the repair position range of the fence gap is determined as follows:

[0039] Determine the two endpoints of the patching line within the patching position range corresponding to the fence gap, and project the dynamic node to the patching line. If the projection point of the dynamic node on the patching line is between the two endpoints, the shortest distance from the mobile node to the patching position range is the vertical distance from the dynamic node to the patching line. If the projection point of the dynamic node on the patching line is not between the two endpoints, the shortest distance from the mobile node to the patching position range is the distance from the mobile node to the endpoint closest to it.

[0040] Furthermore, the method for finding redundant nodes is as follows:

[0041] (71) placing the starting monitoring node of a monitoring zone segment into the path node set, and using the monitoring node as the front monitoring node;

[0042] (72) Obtain the monitoring node farthest from the current monitoring node within the communication radius;

[0043] (73) Put the acquired monitoring node into the path set, take the monitoring node as the previous monitoring node, and execute step (72);

[0044] (73) After traversing to the last monitoring node on the monitoring belt, all other monitoring nodes outside the path node set are redundant nodes.

[0045] The animal migration monitoring method based on the self-repairing sensor network provided by the present invention has the following beneficial technical effects:

[0046] (1) By spreading monitoring nodes on the monitoring belt in the ROI area, the monitoring belt is arranged on the migration path of the target animals, and the monitoring nodes on the monitoring belt are used to monitor the target animals in the ROI area. The arrangement is simple and there is no problem of falling off;

[0047] (2) A decentralized fence gap monitoring method and repair method are constructed based on monitoring nodes. There is no need to deploy a central base station, which reduces the information transmission between the monitoring nodes and the central base station, greatly reduces energy consumption, and also reduces the monitoring cost. (3) By finding redundant nodes in the monitoring nodes, the monitoring life cycle on the monitoring belt is maximized through redundant nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart of an animal migration monitoring method based on a self-repairing sensor network provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0050] The region of interest (ROI for short) is the area that target animals must pass through on their migration path. The monitoring belt is set in the ROI area (rectangular area) and is mainly used to monitor the changes in the number of target animals. In order to improve the detection accuracy of target animals, it is necessary to ensure that there are no fence gaps, that is, monitoring loopholes, in the monitoring belt as much as possible. The present invention provides a fence gap detection method and a repair method based on monitoring nodes, aiming to improve the above-mentioned problem.

[0051] Figure 1 A flowchart of an animal migration monitoring method based on a self-repairing sensor network provided by an embodiment of the present invention, the method specifically comprises the following steps:

[0052] (1) Spread the monitoring nodes and sink nodes on the monitoring belt of the ROI area according to the set number. The monitoring nodes include dynamic nodes and static nodes with a set ratio, and a sink node;

[0053] Static nodes: can communicate with other nodes in their communication area and can detect dynamic objects in their communication area, including target animals;

[0054] Dynamic nodes: have the function of walking, communicate with other nodes in their communication area, and can detect dynamic objects in their communication area, including target animals;

[0055] Sink node: A static node that communicates with all monitoring nodes in the ROI and has a self-positioning function. The position of the sink node remains unchanged.

[0056] (2) Divide the monitoring nodes on the monitoring belt into several node clusters and node sets, the number of connected nodes in the node cluster is greater than or equal to three, and the number of connected nodes in the node set is less than three;

[0057] In the embodiment of the present invention, the node cluster division method is specifically as follows:

[0058] (21) Check whether there are other monitoring nodes within the communication radius of the current monitoring node. If so, execute step (22); if not, execute step (23);

[0059] (22) Add the other monitoring nodes within its communication radius to the node set where the node is located, take the monitoring node newly added to the current node set as the current detection node, and execute step (21);

[0060] (23) The monitoring node closest to the current monitoring node on the monitoring belt is used as the new monitoring node, and the other monitoring nodes closest to the current monitoring node are placed in the new node set. The monitoring node currently placed in the current node set is used as the current node, and step (21) is executed;

[0061] (24) When the current monitoring node is the last monitoring node on the monitoring belt, the division of the monitoring nodes is completed. The node set with more than or equal to three monitoring nodes is a node cluster, and the number of monitoring nodes in the remaining node sets is less than three.

[0062] (3) All monitoring nodes determine their own world coordinates. Monitoring nodes in a node cluster obtain the world coordinates of other monitoring nodes. Dynamic nodes in a node cluster obtain the world coordinates of other monitoring nodes.

[0063] In the embodiment of the present invention, the method for determining the world coordinates of the monitoring node itself is specifically as follows:

[0064] The sink node sends information to the outside in real time, including its own world coordinates (s x ,s y ) and the sending angle θ, all monitoring nodes in the ROI area receive the information sent by the sink node and then calculate their own world coordinates (r x ,r y ), (r x ,r y )=(s x +d*cosθ,s y +d*sinθ), where d is the distance between the corresponding monitoring node and the sink node, which is determined based on the signal strength of the signal sent by the sink node received by the corresponding monitoring node.

[0065] In an embodiment of the present invention, since the monitoring nodes within a node cluster can communicate with each other, the monitoring node can obtain the world coordinates of other monitoring nodes in its node cluster or node set through connected transmission, but cannot obtain the world coordinates of monitoring nodes in other node clusters and node sets through communication.

[0066] In this embodiment of the present invention, each monitoring node in the node cluster obtains the world coordinates of all other monitoring nodes outside the node cluster. The monitoring node m1 is located in the node cluster C. k , the monitoring node p is not located in the node cluster C k , monitoring node m1 determines the world coordinates of monitoring node p based on the following method:

[0067] Node Cluster C k Randomly select two monitoring nodes m2 and m3, and the monitoring nodes m1, m2 and m3 read the signal strength of the signal sent by the monitoring node p, determine the distance d1, d2 and d3 from the monitoring node p to the monitoring nodes m1, m2 and m3 based on the signal strength, calculate the world coordinates of the monitoring node p based on the distances d1, d2 and d3, and inform the node cluster C of the world coordinates of the monitoring node pk All monitoring nodes within.

[0068] The world coordinates of monitoring nodes m1, m2, and m3 are (x1, y1), (x2, y2), and (x3, y3), respectively. The coordinates of monitoring node p are (x, y). The distances d1, d2, and d3 from monitoring node p to monitoring nodes m1, m2, and m3 are as follows:

[0069]

[0070] Expanding d1 yields:

[0071] d1 2 =x 2 -2xx1+x1 2 +y 2 -2yy1+y1 2 ;

[0072] Similarly, we can get:

[0073] d2 2 =x 2 -2xx2+x2 2 +y 2 -2yy2+y2 2 ;

[0074] d3 2 =x 2 -2xx3+x3 2 +y 2 -2yy3+y3 2 ;

[0075] Then subtract the second equation from the first equation, and the third equation from the first equation to get two linear equations:

[0076] 2(x1-x2)x+2(y1-y2)y=d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2 ;

[0077] 2(x1-x3)x+2(y1-y3)y=d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2 ;

[0078] Express the two linear equations in matrix form:

[0079]

[0080] in, Then the coordinates of the monitoring node p are obtained as (x, y).

[0081] In the embodiment of the present invention, the dynamic node in the node set determines the world coordinates of all other monitoring nodes outside the node set based on the following method; the dynamic node e is located in the node set J k , the monitoring node p is not located in the node set J k , the dynamic node e determines the world coordinates of the monitoring node p based on the following method:

[0082] The dynamic node e reads the signal strength of the signal sent by the monitoring node p at the current first position, and determines the distance d1 between the current position of the dynamic node e and the monitoring node p; the dynamic node e controls itself to move to the second position, and reads the signal strength of the signal sent by the monitoring node p at the second position, and determines the distance d2 between the current position of the dynamic node e and the monitoring node p; the dynamic node e controls itself to move to the third position, and reads the signal strength of the signal sent by the monitoring node p at the third position, and determines the distance d3 between the current position of the dynamic node e and the monitoring node p. The first position, the second position, and the third position form an equilateral triangle; the world coordinates of the monitoring node p are calculated based on the distances d1, d2, and d3, and the world coordinates of the monitoring node p are notified to the node set J k For all monitoring nodes within, the coordinates of monitoring node p are (x, y). The method for obtaining them is the same as above and will not be repeated here.

[0083] (4) The dynamic nodes in the node set calculate the distance between adjacent static nodes on the monitoring belt. When the distance is greater than the set distance threshold, it is determined that there is a fence gap at the corresponding position and the fence gap information is obtained. The fence gap information includes: fence gap position, fence gap angle and fence gap distance. Otherwise, it is determined that there is no fence gap at the corresponding position and no repair is required.

[0084] In this embodiment of the present invention, if the static node i(x i ,y i ) and static node j(x j ,y j )(Static node j is the next static node of static node i, x i <x j ) is greater than the distance threshold, then the fence gap position here is {i,j}, and the distance of the fence gap is is the distance between static node i and static node j, and the fence gap angle

[0085] (5) Determine the number of dynamic nodes required to repair each fence gap and determine the corresponding number of repair position ranges, and obtain the shortest moving distance from each dynamic node to the corresponding repair position of each fence gap;

[0086] Determine the minimum number of dynamic nodes required to fill each fence gap, r is the perception radius of the dynamic node for the active object, which is generally half of the communication radius.

[0087] Only one dynamic node e(x e ,y e ) is patched, the dynamic node e(x e ,y e ) The following conditions must be met:

[0088] When j <y i When the horizontal axis range is: x i +Δx<x e <x j -Δx; vertical coordinate range: y i -Δy<y e <y j +Δy;

[0089] When j ≥y i When the horizontal axis range is: x i +Δx<x e <x j -Δx; vertical coordinate range: y i +Δy<y e <y j -Δy;

[0090] And the dynamic node e is located on the patch line: y e =(x e -x i )tanα+y i .

[0091] If a fence gap requires n dynamic nodes to be repaired, the kth dynamic node e(x e ,y e ) The following conditions must be met:

[0092] When j <y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i -k·Δy<y e <yj +(n-k+1)Δy;

[0093] When j ≥y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i +k·Δy<y e <y j -(n-k+1)Δy;

[0094] And the dynamic node e is located on the patch line: y e =(x e -x i )tanα+y i .

[0095] Among them, Δx=r·cosα, Δy=r·sinα, respectively represent the horizontal component and vertical component of the tangent point between the current dynamic node and the perception radius.

[0096] (6) constructing a cost matrix based on the shortest moving distance from each dynamic node to each fence gap within the repair position range, where each element in the matrix is ​​the shortest moving distance from the corresponding dynamic node to the corresponding gap;

[0097] In an embodiment of the present invention, when a mobile node repairs a fence gap, it is necessary to calculate the shortest distance that the mobile node moves to the range of the position to be repaired, determine the two endpoints of the repair line within the repair position range, and project the dynamic node used for repairing onto the repair line. If the projection point of the dynamic node on the repair line is between the two endpoints, then the shortest distance from the mobile node to the repair position range is the vertical distance from the dynamic node to the repair line. If the projection point of the dynamic node on the repair line is not between the two endpoints, then the shortest distance from the mobile node to the repair position range is the distance from the mobile node to the endpoint closest to it.

[0098] (7) Using the Hungarian algorithm on the cost matrix, calculate the repair scheme of the dynamic node with the shortest global moving distance, move the corresponding dynamic node to the repair position of the fence gap corresponding to the repair scheme, and repair the fence gap;

[0099] (8) The ratio of the monitoring length on the repaired monitoring belt to the length of the monitoring belt. If the ratio is greater than the set threshold, the redundant nodes in the ROI area are searched to detect whether the redundant nodes are dynamic nodes. If the ratio is less than the set threshold, it means that the fence gap cannot be repaired by repairing the dynamic nodes, and it is necessary to increase the deployment of dynamic nodes on the monitoring belt.

[0100] In the embodiment of the present invention, the method for searching redundant nodes is specifically as follows:

[0101] (81) placing the starting monitoring node of a monitoring zone segment into the path node set, and using the monitoring node as the front monitoring node;

[0102] (82) Obtain the monitoring node farthest from the current monitoring node within the communication radius;

[0103] (83) Put the acquired monitoring node into the path set, take the monitoring node as the previous monitoring node, and execute step (82);

[0104] (83) After traversing to the last monitoring node on the monitoring belt, all other monitoring nodes outside the path node set are redundant nodes.

[0105] (9) If the detection result is yes, the redundant node is controlled to move to the repair position of the fence gap with the longest moving distance in the repair scheme. When the power of the repair dynamic node at the gap is lower than the set power threshold, the redundant node is awakened; if the detection result is no, the redundant node and its neighbor monitoring node work alternately.

[0106] The present invention has been described exemplarily. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A method for monitoring animal migration based on a self-repairing sensor network, characterized in that: The method comprises the following steps: (1) Spread the monitoring nodes and sink nodes on the monitoring belt of the ROI area according to the set number. The monitoring nodes include dynamic nodes and static nodes with a set ratio, and a sink node; (2) Divide the monitoring nodes into several node clusters and node sets; (3) The monitoring node determines its own world coordinates. The monitoring nodes in the node cluster obtain the world coordinates of other monitoring nodes. The dynamic nodes in the node cluster obtain the world coordinates of other monitoring nodes. (4) Find the fence gap between static nodes and obtain fence gap information, including: fence gap position, fence gap angle and fence gap distance; (5) Determine the number of dynamic nodes required to repair each fence gap and determine the corresponding number of repair position ranges, obtain the shortest moving distance from each dynamic node to the corresponding repair position of each fence gap, and construct a cost matrix; (6) Based on the cost matrix, a repair scheme with the shortest global moving distance of dynamic nodes is obtained, and the relevant pairs of dynamic nodes are moved to the repair positions corresponding to the fence gaps in the repair scheme.

2. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: After step (6), the method further includes: (7) Calculate the ratio of the monitoring length to the length of the monitoring zone. If the ratio is greater than a set threshold, search for redundant nodes in the ROI area and detect whether the redundant nodes are dynamic nodes. (8) If the detection result is yes, the redundant node is controlled to move to the repair position of the fence gap with the longest moving distance in the repair scheme, and when the power of the dynamic node used for repair is lower than the set power threshold, the corresponding redundant node is awakened; if the detection result is no, the redundant node and its neighbor monitoring node work alternately.

3. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: The node cluster division method is as follows: (21) Check whether there are other monitoring nodes within the communication radius of the current monitoring node. If so, execute step (22); if not, execute step (23); (22) Add the other monitoring nodes within its communication radius to the node set where the node is located, take the monitoring node newly added to the current node set as the current monitoring node, and execute step (21); (23) The monitoring node closest to the current monitoring node on the monitoring belt is used as the new monitoring node, and the other monitoring nodes closest to the current monitoring node are placed in the new node set. The monitoring node currently placed in the current node set is used as the current node, and step (21) is executed; (24) After the current monitoring node is the last monitoring node on the monitoring belt, the node cluster with three or more monitoring nodes is a node cluster.

4. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: The method for determining the world coordinates of the monitoring node itself is as follows: The sink node sends information to the outside in real time, including its own world coordinates (s x ,s y ) and the sending angle θ, all monitoring nodes in the ROI area receive the information sent by the sink node and then calculate their own world coordinates (r x ,r y ), (r x ,r y )=(s x +d*cosθ,s y +d*sinθ), where d is the distance between the corresponding monitoring node and the sink node, which is determined based on the signal strength of the signal sent by the sink node received by the corresponding monitoring node.

5. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: The monitoring node m1 is located in the node cluster C k , the monitoring node p is not located in the node cluster C k When , the method for monitoring node m1 to determine the world coordinates of monitoring node p is as follows: Node Cluster C k Arbitrarily select two monitoring nodes m2 and monitoring node m3. Monitoring nodes m1, monitoring node m2, and monitoring node m3 read the signal strength of the signal emitted by monitoring node p, determine the distance d1, distance d2, and distance d3 from monitoring node p to monitoring node m1, monitoring node m2, and monitoring node m3 based on the signal strength, and calculate the world coordinates of monitoring node p based on distance d1, distance d2, and distance d3.

6. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: When the dynamic node e is located in the node set J k , the monitoring node p is not located in the node set J k When , the method for the dynamic node to determine the world coordinates of the monitoring node p is as follows: The dynamic node e reads the signal strength of the signal sent by the monitoring node p at the current first position, and determines the distance d1 between the current position of the dynamic node e and the monitoring node p; The dynamic node e controls itself to move to the second position, and the dynamic node e reads the signal strength of the signal sent by the monitoring node p at the second position to determine the distance d2 between the current position of the dynamic node e and the monitoring node p; The dynamic node e controls itself to move to the third position. The dynamic node e reads the signal strength of the signal sent by the monitoring node p at the third position, and determines the distance d3 between the current position of the dynamic node e and the monitoring node p. The first position, the second position, and the third position form an equilateral triangle. The world coordinates of the monitoring node p are calculated based on the distances d1, d2, and d3.

7. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: The calculation formula for the minimum number of dynamic nodes n for the fence gap is as follows: Among them, r is the perception radius of the moving object, gap ij is the distance between the corresponding fence gaps.

8. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 7, characterized in that: When a total of n dynamic nodes are needed to repair the fence gap, the kth dynamic node e(x e ,y e ) The following conditions must be met: When j <y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i -k·Δy<y e <y j +(n-k+1)Δy; When j ≥y i When the horizontal axis range is: x i +k·Δx<x e <x j -(n-k+1)Δx; vertical coordinate range: y i +k·Δy<y e <y j -(n-k+1)Δy; And the dynamic node e is located on the patch line: y e =(x e -x i )tanα+y i . Among them, Δx and Δy represent the horizontal component and vertical component of the tangent point between the current dynamic node and the perception radius, respectively.

9. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 1, characterized in that: The shortest distance between the mobile node and the fence gap repair position range is determined as follows: Determine the two endpoints of the patching line within the patching position range corresponding to the fence gap, and project the dynamic node to the patching line. If the projection point of the dynamic node on the patching line is between the two endpoints, the shortest distance from the mobile node to the patching position range is the vertical distance from the dynamic node to the patching line. If the projection point of the dynamic node on the patching line is not between the two endpoints, the shortest distance from the mobile node to the patching position range is the distance from the mobile node to the endpoint closest to it.

10. The animal migration monitoring method based on a self-repairing sensor network as claimed in claim 2, characterized in that: The method for finding redundant nodes is as follows: (71) placing the starting monitoring node of a monitoring zone segment into the path node set, and using the monitoring node as the front monitoring node; (72) Obtain the monitoring node farthest from the current monitoring node within the communication radius; (73) Put the acquired monitoring node into the path set, take the monitoring node as the previous monitoring node, and execute step (72); (73) After traversing to the last monitoring node on the monitoring belt, all other monitoring nodes outside the path node set are redundant nodes.

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