Underwater network topology deployment method and device based on link quality, equipment and medium

Abstract

The invention discloses an underwater network topology deployment method and device based on link quality, equipment and a medium, and relates to the technical field of network topology, and the method comprises the steps: obtaining first coordinate information of each monitoring node in a to-be-deployed water area and second coordinate information of a water surface node; selecting a monitoring node as a target monitoring node from a monitoring node cluster constructed by each monitoring node, and checking whether a direct communication path exists between the target monitoring node and the water surface node based on a communication propagation loss model; if not, determining a target relay node pointing to the water surface node based on the first coordinate information and the second coordinate information of the target monitoring node and the candidate relay node position information; and taking the target relay node as a target monitoring node, skipping to execute the step of checking whether a direct communication path exists between the target monitoring node and the water surface node based on the communication propagation loss model until the direct communication path exists between the target monitoring node and the water surface node, and obtaining a communication path for constructing the underwater network topology.

Description

Technical Field

[0001] The present invention relates to the field of network topology technology, and in particular to a method, device, equipment and medium for deploying underwater network topology based on link quality. Background Art

[0002] In the application scenario of underwater target area monitoring, when the monitoring node transmits data to the surface node through multiple hops, due to the influence of the ocean environment such as sound refraction and multipath effect on the propagation of underwater acoustic signals, different node positions have a greater impact on the acoustic wave propagation loss between underwater nodes, and underwater acoustic wave communication is greatly affected by factors such as medium unevenness, water temperature difference, underwater reflection and refraction, resulting in a complex distribution of propagation loss. In addition, due to the characteristics of different underwater depths, the sensor cannot achieve omnidirectional propagation on the vertical plane underwater, which will also limit the location of the nodes deployed in the underwater network. Therefore, the existing deployment algorithm that uses distance as the connectivity standard has acoustic shadow areas or locations with high propagation losses within the assumed communication range. The nodes deployed between these locations will not be able to communicate, resulting in the loss of connection between the monitoring node and the surface node, thereby affecting the connectivity and reliability of the network. Existing methods usually use distance as the connectivity standard. However, there are acoustic shadow areas or locations with high propagation losses within the assumed communication range. Using this as the connectivity standard may cause the deployed locations to be unable to communicate.

[0003] Therefore, how to reasonably constrain the deployment of relay nodes while controlling the cost of the number of relay nodes and improve the reliability of the underwater acoustic sensor network is a technical problem to be solved in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for deploying underwater network topology based on link quality, which can reasonably constrain the deployment of relay nodes and improve the reliability of underwater acoustic sensor networks while controlling the cost of the number of relay nodes. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a method for deploying underwater network topology based on link quality, comprising:

[0006] Obtaining first coordinate information of each monitoring node in the water area to be deployed and second coordinate information of the surface node;

[0007] Randomly select any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value;

[0008] If it does not exist, then the candidate connectivity value between the target monitoring node and the candidate relay node is calculated based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node;

[0009] The target relay node is used as a target monitoring node, and the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model is executed until a direct communication path exists between the target monitoring node and the surface node;

[0010] The underwater network topology of the water area to be deployed is constructed based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes.

[0011] Optionally, the checking whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model includes:

[0012] Inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model, so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model;

[0013] The connectivity value between the target monitoring node and the surface node is determined by the communication propagation loss value, the acoustic signal transmission power, the water environment noise, and the receiving directivity index of the surface node, so as to judge whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value.

[0014] Optionally, before inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model, the method further includes:

[0015] Construct the communication propagation loss model, wherein the communication propagation loss model is:

[0016] ;

[0017] in, represents the communication propagation loss value, Representation Node With Node The distance between Indicates the number of models, The propagation factor representing the propagation geometry, According to , , , , The calculated absorption coefficient of seawater is Represented as audio frequency, Expressed as temperature, Represents water, Expressed as salinity, Expressed as the speed of sound.

[0018] Optionally, determining the connectivity value between the target monitoring node and the surface node by using the communication propagation loss value, the acoustic signal transmission power, the water environment noise, and the receiving directivity index of the surface node includes:

[0019] The signal-to-noise ratio between the target monitoring node and the surface node is calculated by a preset signal-to-noise ratio equation; wherein the preset signal-to-noise ratio equation is:

[0020] ;

[0021] in, represents the signal-to-noise ratio, Indicates the acoustic signal transmission power, represents the water environment noise, Indicates the receiving directivity index;

[0022] The bit error rate between the target monitoring node and the surface node is calculated based on the signal-to-noise ratio by using a preset bit error rate calculation equation; wherein the preset bit error rate calculation equation is:

[0023] ;

[0024] The connectivity value between the target monitoring node and the surface node is determined by a preset connectivity value judgment condition and a bit error rate; wherein the preset connectivity value judgment condition is:

[0025] ;

[0026] in, Indicates the bit error rate threshold of inter-node communication;

[0027] The connectivity value between the target monitoring node and the water surface node is determined based on the connectivity value judgment result.

[0028] Optionally, inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model includes:

[0029] Calculate the distance information between the target monitoring node and the water surface node according to the first coordinate information and the second coordinate information of the target monitoring node;

[0030] The distance information and the current seawater absorption coefficient are input into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model.

[0031] Optionally, after determining whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value, the method further includes:

[0032] If so, the relay point deployment process between the target monitoring node and the surface node is skipped, and a direct communication path between the target monitoring node and the surface node is obtained.

[0033] Optionally, the determining a target relay node pointing to the surface node includes:

[0034] Determine whether there is a direct communication path between the candidate relay node and the target monitoring node according to the candidate connectivity value, and determine whether the target angle information is less than the preset angle information; wherein the preset angle information is the minimum angle information between the angle information between the target monitoring node and the water surface node and the horizontal plane and the acoustic signal emission angle of the underwater acoustic communication device on the target monitoring node;

[0035] If the judgment result is that the direct communication path exists and the target angle information is less than the preset angle information, the weight information corresponding to the candidate relay nodes is calculated, and the candidate relay node with the largest weight is used as the target relay node pointing to the surface node.

[0036] In a second aspect, the present application discloses an underwater network topology deployment device based on link quality, comprising:

[0037] An information acquisition module, used to acquire first coordinate information of each monitoring node in the water area to be deployed and second coordinate information of the surface node;

[0038] A first communication judgment module is used to randomly select any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as a target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value;

[0039] A relay node determination module, for calculating the candidate connectivity value between the target monitoring node and the candidate relay node based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node, if it does not exist, and obtaining the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane, so as to determine the target relay node pointing to the surface node;

[0040] A second communication judgment module is used to take the target relay node as a target monitoring node, and jump to execute the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model until a direct communication path exists between the target monitoring node and the surface node;

[0041] A topology generation module is used to construct the underwater network topology of the water area to be deployed based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes.

[0042] In a third aspect, the present application discloses an electronic device, comprising:

[0043] Memory, used to store computer programs;

[0044] A processor is used to execute the computer program to implement the steps of the aforementioned method for deploying underwater network topology based on link quality.

[0045] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the steps of the aforementioned disclosed method for deploying underwater network topology based on link quality are implemented.

[0046] It can be seen that the present application discloses a method for deploying underwater network topology based on link quality, including: obtaining the first coordinate information of each monitoring node in the water area to be deployed and the second coordinate information of the surface node; randomly selecting any monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value; if not, based on the first coordinate information, the second coordinate information, and the position of the candidate relay node of the target monitoring node The target monitoring node and the candidate relay node are calculated based on the information, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node; the target relay node is used as the target monitoring node, and the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model is jumped to execute until there is a direct communication path between the target monitoring node and the surface node; the underwater network topology of the water area to be deployed is constructed based on the direct communication paths between all the target monitoring nodes and the surface nodes, and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes. It can be seen that the communication quality between the target monitoring node and the surface node is obtained by checking the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model, and the communication quality between the nodes is accurately calculated, so as to facilitate the selection of the best communication path, and then choose whether to execute the relay node selection process, and the relay node position can be automatically selected by executing the relay node selection process, which reduces manual intervention and improves deployment efficiency and accuracy. The automation process can quickly adapt to different water environments and monitoring needs, enhancing the flexibility and scalability of the system. It also ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, thereby enhancing the connectivity of the network. Even in complex underwater environments, it can ensure stable data transmission, improving the reliability and stability of the monitoring system. Intelligent selection of relay node locations can maximize the use of network resources and reduce unnecessary node deployment and energy consumption. It reduces network maintenance costs and improves overall economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0048] Figure 1 A flow chart of a method for deploying underwater network topology based on link quality disclosed in this application;

[0049] Figure 2 A scene graph for relay node determination in an underwater network topology deployment process disclosed in the present application;

[0050] Figure 3 A flowchart of a specific underwater network topology deployment method based on link quality disclosed in this application;

[0051] Figure 4 A diagram of an underwater network topology deployment result disclosed in this application;

[0052] Figure 5 This is a schematic diagram of the structure of an underwater network topology deployment device based on link quality disclosed in this application;

[0053] Figure 6 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] In the application scenario of underwater target area monitoring, when the monitoring node transmits data to the surface node through multiple hops, due to the influence of the ocean environment such as sound refraction and multipath effect on the propagation of underwater acoustic signals, different node positions have a greater impact on the acoustic wave propagation loss between underwater nodes, and underwater acoustic wave communication is greatly affected by factors such as medium unevenness, water temperature difference, underwater reflection and refraction, resulting in a complex distribution of propagation loss. In addition, due to the characteristics of different underwater depths, the sensor cannot achieve omnidirectional propagation on the vertical plane underwater, which will also limit the location of the nodes deployed in the underwater network. Therefore, the existing deployment algorithm that uses distance as the connectivity standard has acoustic shadow areas or locations with high propagation losses within the assumed communication range. The nodes deployed between these locations will not be able to communicate, resulting in the loss of connection between the monitoring node and the surface node, thereby affecting the connectivity and reliability of the network. Existing methods usually use distance as the connectivity standard. However, there are acoustic shadow areas or locations with high propagation losses within the assumed communication range. Using this as the connectivity standard may cause the deployed locations to be unable to communicate.

[0056] To this end, the present invention provides a method for reasonably constraining the deployment of relay nodes while controlling the cost of the number of relay nodes, thereby improving the reliability of the underwater acoustic sensor network.

[0057] Reference Figure 1 As shown, an embodiment of the present invention discloses a method for deploying underwater network topology based on link quality, including:

[0058] Step S11: Acquire the first coordinate information of each monitoring node in the water area to be deployed and the second coordinate information of the surface node.

[0059] In the present embodiment, the underwater environment monitoring network is a system that uses an underwater acoustic sensor network to monitor the marine environment. Several monitoring nodes with marine monitoring capabilities are deployed in specific underwater areas to monitor the water quality, water temperature, water flow speed, marine biological activities and other monitoring information of the target marine area in real time, and the collected information is transmitted to the surface node through the relay node multi-hop, so as to facilitate the collection of monitoring data by ground personnel or base stations. In the target area detection, since the target area is located and dispersed, a cluster topology is generally used to deploy the network. The nodes in the network topology are divided into three categories, the first category is the surface node for receiving data, the second category is the monitoring node responsible for monitoring the target area, and the last category is the relay node deployed between the monitoring node and the convergence node, which is used to complete the multi-hop transmission between the surface node and the monitoring point. Each monitoring node is responsible for a target monitoring area, and by deploying several relay nodes, each monitoring node has at least one path to transmit data to the surface node.

[0060] It should be noted that when deploying underwater networks in the waters to be deployed, it is necessary to ensure that the propagation loss distribution of the underwater acoustic communication equipment carried by each node in communication with various locations underwater is within the acceptable communication range, that is, the transmission distribution loss between two nodes needs to be within a certain range, thereby ensuring a smooth communication path between the two nodes. In addition, the location outside the acoustic signal emission angle of the underwater acoustic communication equipment is an acoustic shadow area where the sound line cannot reach, and the sensor nodes deployed in this area cannot communicate with the device. Within the communication range of the device, the multipath effect of water surface reflection also causes the distribution of propagation loss to be unevenly distributed with distance.

[0061] In this embodiment, in order to deploy an underwater network in the water area to be deployed, the network deployment in the water area is realized based on the link quality between nodes involved in the water area to be deployed. Therefore, the coordinate information of each monitoring node in different target areas in the water area to be deployed is obtained as the first coordinate information, and the coordinate information of the surface node in the water area to be deployed is used as the second coordinate information. It should be noted that there are one or more target areas in the water area to be deployed, and each target area corresponds to a monitoring node. After obtaining the first coordinate information and the second coordinate information, a node coordinate set is formed based on the above coordinate information. At the same time, the water area to be deployed is divided into several networks to form a grid set, and these grids serve as potential relay node deployment locations.

[0062] Step S12: Randomly select any monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value.

[0063] In this embodiment, a monitoring node is randomly selected from the monitoring node cluster as the target monitoring node, and then the propagation loss value distribution of the surface node and the target monitoring node when communicating with various locations underwater is obtained through the propagation loss model, so as to determine whether there is a direct communication path between the two nodes based on the propagation loss value distribution.

[0064] In this embodiment, the distance information between the target monitoring node and the surface node and the current seawater absorption coefficient are input into the communication propagation loss model, so as to calculate the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model; the connectivity value between the target monitoring node and the surface node is determined through the communication propagation loss value, the acoustic signal transmission power, the water environment noise, and the receiving directivity index of the surface node, so as to judge whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value. Specifically, the distance information between the target monitoring node and the surface node is calculated according to the first coordinate information and the second coordinate information of the target monitoring node; the distance information and the current seawater absorption coefficient are input into the communication propagation loss model, so as to calculate the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model.

[0065] It is understandable that the distance information between the selected target monitoring node and the surface node and the current seawater absorption coefficient are substituted into the communication propagation loss model so that the communication propagation loss value between the two nodes can be calculated through the model, and further, the connectivity value between the two nodes is further calculated and determined according to the calculated communication propagation loss value, acoustic signal transmission power, water environment noise, receiving directivity index and other parameter information, so that it is possible to determine whether there is a direct communication path between the target monitoring node and the surface node according to the connectivity value and the direct communication path condition. In this way, since the main goal in the underwater network topology deployment is to ensure that all monitoring nodes can communicate with the surface nodes so as to transmit the monitoring data back to the surface for processing. For monitoring nodes that can already communicate directly with the surface nodes, there is no need to deploy additional relay nodes. Therefore, it is very important to determine whether there is a direct communication path between the two nodes by calculation. For target monitoring nodes that can already communicate directly with the surface nodes, there is no need to deploy additional relay nodes. Moreover, the deployment of relay nodes requires costs, including hardware costs, deployment costs, and maintenance costs. By checking the direct communication path first, unnecessary cost expenditures can be avoided. When deploying relay nodes, the overall performance and stability of the network needs to be considered. Too many relay nodes may increase the complexity and failure rate of the network. Therefore, by checking the direct communication path first, the network structure can be optimized and the performance and stability of the network can be improved.

[0066] In this embodiment, before inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model, it also includes: constructing the communication propagation loss model, wherein the communication propagation loss model is:

[0067] ;

[0068] in, represents the communication propagation loss value, Representation Node With Node The distance between Indicates the number of models, The propagation factor representing the propagation geometry, According to , , , , The calculated absorption coefficient of seawater is Represented as audio frequency, Expressed as temperature, Represents water, Expressed as salinity, Expressed as the speed of sound.

[0069] In this embodiment, the signal-to-noise ratio between the target monitoring node and the surface node is calculated by a preset signal-to-noise ratio equation; wherein the preset signal-to-noise ratio equation is:

[0070] ;

[0071] in, represents the signal-to-noise ratio, Indicates the acoustic signal transmission power, represents the water environment noise, Indicates the receiving directivity index;

[0072] The bit error rate between the target monitoring node and the surface node is calculated based on the signal-to-noise ratio by using a preset bit error rate calculation equation; wherein the preset bit error rate calculation equation is:

[0073] ;

[0074] The connectivity value between the target monitoring node and the surface node is determined by a preset connectivity value judgment condition and a bit error rate; wherein the preset connectivity value judgment condition is:

[0075] ;

[0076] in, Indicates the bit error rate threshold of inter-node communication;

[0077] The connectivity value between the target monitoring node and the water surface node is determined based on the connectivity value judgment result.

[0078] It can be understood that the above process realizes the connectivity judgment between the surface node and the target monitoring node, and then obtains the judgment result of whether there is a direct communication path between the two nodes. After completing the judgment of a monitoring node, jump to the step of randomly selecting any other monitoring node in the monitoring node cluster except the judged monitoring node as the target monitoring node, until all monitoring nodes in the entire water area to be deployed have completed the step of direct communication path judgment.

[0079] In this embodiment, after determining whether there is a direct communication path between two nodes, if the judgment result is that there is a direct communication path, that is, if it exists, the relay point deployment process between the target monitoring node and the surface node is skipped, and the direct communication path between the target monitoring node and the surface node is obtained.

[0080] Step S13: If it does not exist, then the candidate connectivity value between the target monitoring node and the candidate relay node is calculated based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node.

[0081] In this embodiment, if it does not exist, the relay node deployment process is executed. Specifically, it is determined whether there is a direct communication path between the candidate relay node and the target monitoring node based on the candidate connectivity value, and whether the target angle information is less than the preset angle information; wherein the preset angle information is the minimum angle information between the target monitoring node and the surface node and the horizontal plane and the acoustic signal emission angle of the underwater acoustic communication equipment on the target monitoring node; if the judgment result is that the direct communication path exists and the target angle information is less than the preset angle information, the weight information corresponding to the candidate relay node is calculated, and the candidate relay node with the largest weight is used as the target relay node pointing to the surface node. It can be understood that when the deployment process starts, starting from each unconnected target monitoring node, a next-hop relay node is deployed in the direction of the surface node, and each time a relay node is deployed, it is checked whether there is a direct communication path between the relay node and the surface node. If there is no direct communication path, the next-hop relay node is deployed from the current relay node in the direction of the surface node. Specifically, if Figure 2 As shown, from the current node The scene when a (monitoring node or relay node) deploys a relay node towards the surface node. In the figure, α is the angle between the current node and the surface node and the horizontal plane, β is the acoustic signal emission angle of the underwater acoustic communication equipment of the current node, γ is the angle between the current node and the candidate relay node and the horizontal plane, and θ is the angle between the candidate relay node and the surface node and the current node. The relay node deployment process includes the stage of obtaining the propagation loss distribution, the stage of establishing a pipeline based on link quality, and the stage of relay node deployment. Among them, the stage of obtaining the propagation loss distribution: first, the propagation loss distribution of the current node (monitoring node or relay node) communicating with each location underwater is obtained through the propagation loss model. The stage of establishing a pipeline based on link quality: According to the propagation loss distribution of the current node underwater and the position between it and the surface node, a candidate pipeline for the deployable location is established. Represents a candidate relay node Whether it is in the pipeline and selects weights from the pipeline The largest location The deployment location of the next-hop relay node. , and The formula is as follows:

[0082] ;

[0083] ;

[0084] ;

[0085] in, Represents a candidate relay node At the depth under water, The depth of the underwater scene.

[0086] Step S14: Take the target relay node as the target monitoring node, and jump to execute the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model until a direct communication path exists between the target monitoring node and the surface node.

[0087] In this embodiment, a relay node is deployed at a candidate position, and the relay node is used as a target monitoring node. The communication propagation loss model is used again to check whether there is a direct communication path between the target monitoring node and the surface node. If there is a direct communication path between the current target monitoring node and the surface node, the deployment of the monitoring node is completed, and the relay node is deployed for the next monitoring node. If there is no path between the surface node, the stage of obtaining the propagation loss distribution is continued, and the next relay is deployed from the current relay node toward the surface node.

[0088] Step S15: constructing the underwater network topology of the to-be-deployed water area based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes via the target relay nodes.

[0089] In this embodiment, the direct communication paths between all target monitoring nodes and surface nodes, and the communication paths between the target monitoring nodes and the surface nodes through one or more target relay nodes are used to construct an underwater network topology of each monitoring node and the surface nodes in each target area in the water area to be deployed.

[0090] Reference Figure 3 As shown, in order to obtain the underwater network to be deployed in the water area, the following steps are executed and the topological node coordinate set involved in the underwater network is obtained. First, the input information includes: monitoring node cluster , water surface node , the coordinate set of each node in the network , the acoustic signal emission angle of underwater acoustic communication equipment The output information is: the topological coordinate set after deployment. The implementation process from input information to output information is:

[0091] 1: Divide the scene into a collection of grids ;

[0092] 2: Get each node and connectivity of

[0093] 3: Get The distribution of propagation losses of all nodes in the communication with each location underwater;

[0094] 4: for each monitoring node in the scene ;

[0095] 5: Record Monitor the current target node ;

[0096] 6: while and There is no direct communication path between:

[0097] 7: Find out whether there is a node in the current node set Connected and deep Shallow Node ;

[0098] 8: if exists do;

[0099] 9: Jump out of the loop;

[0100] 10: end if

[0101] 11: Get the angle ;

[0102] 12: for each mesh in the scene ;

[0103] 13: Obtaining the grid through the propagation loss model and Connectivity between ;

[0104] 14: Get the angle ;

[0105] 15: if and do

[0106] 16: Computational Grid Weight ;

[0107] 17: Selected ;

[0108] 18: end if

[0109] 19: end for

[0110] 20: In Deploy next-hop relay nodes ;

[0111] 21: Update Node Set ;

[0112] 22: Update each node and connectivity of

[0113] 23: Record For the current node ;

[0114] 24: end for

[0115] 25: return topological coordinate set .

[0116] It should be noted that lines 1-3 first divide the scene into several grids to facilitate the subsequent selection of candidate locations for relay nodes and obtain the distribution of propagation losses of surface nodes and monitoring points. Lines 4-24 are used to deploy relay nodes for each monitoring node to achieve connectivity with the surface node. Among them, lines 7-10 are used to check the connectivity between the target monitoring node and the surface node. If connectivity has been achieved, the loop is exited and the relay node is deployed for the next monitoring point. Lines 11-19 deploy the next-hop relay towards the surface node for the current node, and select the optimal candidate location for the next-hop relay based on the upper weight W. Lines 20-23 deploy new nodes and update the node set, the connectivity between each node and the surface node, and record the new point as the current node.

[0117] like Figure 4 As shown, the composition of the underwater node topology obtained based on the above method, wherein the water area to be deployed includes monitoring area 1, monitoring area 2 and monitoring area 3, and the three target areas represent different key monitoring water areas in the water area to be deployed, which are used to guide the deployment of monitoring nodes and the collection of data. For monitoring area 1, relay nodes 1-1, relay nodes 1-2 and relay nodes 1-3 are determined one by one through the scheme of the present invention, and then the communication path from monitoring node 1 to the surface node is: relay node 1-1, relay node 1-2 and relay node 1-3. Similarly, the relay nodes from monitoring area 2 to the surface node (relay node 2-1, relay node 2-2 and relay node 2-3) and the relay nodes from monitoring area 3 to the surface node (relay node 3-1, relay node 3-2 and relay node 3-3) are determined in the same way. The communication paths from each monitoring node to the water surface further construct the overall underwater topology of the water area to be deployed.

[0118] It can be seen that the present application discloses a method for deploying underwater network topology based on link quality, including: obtaining the first coordinate information of each monitoring node in the water area to be deployed and the second coordinate information of the surface node; randomly selecting any monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value; if not, based on the first coordinate information, the second coordinate information, and the position of the candidate relay node of the target monitoring node The target monitoring node and the candidate relay node are calculated based on the information, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node; the target relay node is used as the target monitoring node, and the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model is jumped to execute until there is a direct communication path between the target monitoring node and the surface node; the underwater network topology of the water area to be deployed is constructed based on the direct communication paths between all the target monitoring nodes and the surface nodes, and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes. It can be seen that the communication quality between the target monitoring node and the surface node is obtained by checking the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model, and the communication quality between the nodes is accurately calculated, so as to facilitate the selection of the best communication path, and then choose whether to execute the relay node selection process, and the relay node position can be automatically selected by executing the relay node selection process, which reduces manual intervention and improves deployment efficiency and accuracy. The automation process can quickly adapt to different water environments and monitoring needs, enhancing the flexibility and scalability of the system. It also ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, thereby enhancing the connectivity of the network. Even in complex underwater environments, it can ensure stable data transmission, improving the reliability and stability of the monitoring system. Intelligent selection of relay node locations can maximize the use of network resources and reduce unnecessary node deployment and energy consumption. It reduces network maintenance costs and improves overall economic benefits.

[0119] Reference Figure 5 As shown, the present invention also discloses a device for deploying underwater network topology based on link quality, including:

[0120] The information acquisition module 11 is used to obtain the first coordinate information of each monitoring node in the water area to be deployed and the second coordinate information of the surface node;

[0121] The first communication judgment module 12 is used to randomly select any one monitoring node from the monitoring node cluster constructed by each monitoring node as a target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value;

[0122] A relay node determination module 13 is used to calculate the candidate connectivity value between the target monitoring node and the candidate relay node based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node if it does not exist, and obtain the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane to determine the target relay node pointing to the surface node;

[0123] The second communication judgment module 14 is used to take the target relay node as the target monitoring node, and jump to execute the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model until there is a direct communication path between the target monitoring node and the surface node;

[0124] The topology generation module 15 is used to construct the underwater network topology of the water area to be deployed based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes.

[0125] It can be seen that the present application discloses obtaining the first coordinate information of each monitoring node in the water area to be deployed and the second coordinate information of the surface node; randomly selecting any monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between the two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value; if not, the target monitoring node is calculated based on the first coordinate information, the second coordinate information, and the position information of the candidate relay node. The candidate connectivity value between the point and the candidate relay node, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node; the target relay node is used as the target monitoring node, and the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model is jumped to execute until there is a direct communication path between the target monitoring node and the surface node; the underwater network topology of the water area to be deployed is constructed based on the direct communication paths between all the target monitoring nodes and the surface nodes, and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes. It can be seen that the communication quality between the target monitoring node and the surface node is obtained by checking the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model, and the communication quality between the nodes is accurately calculated, so as to facilitate the selection of the best communication path, and then choose whether to execute the relay node selection process, and the relay node position can be automatically selected by executing the relay node selection process, which reduces manual intervention and improves deployment efficiency and accuracy. The automation process can quickly adapt to different water environments and monitoring needs, and enhance the flexibility and scalability of the system. It also ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, thereby enhancing the connectivity of the network. Even in complex underwater environments, it can ensure stable data transmission, improving the reliability and stability of the monitoring system. Intelligent selection of relay node locations can maximize the use of network resources, reduce unnecessary node deployment and energy consumption, reduce network maintenance costs, and improve overall economic benefits.

[0126] Furthermore, the present application also discloses an electronic device. Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0127] Figure 6A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the underwater network topology deployment method based on link quality disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0128] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0129] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0130] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0131] Among them, the operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, so as to realize the operation and processing of the massive data 223 in the memory 22 by the processor 21, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the underwater network topology deployment method based on link quality performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks. In addition to data transmitted from an external device received by the electronic device, the data 223 can also include data collected by its own input and output interface 25, etc.

[0132] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed underwater network topology deployment method based on link quality is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0133] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0134] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. The steps of the method or algorithm described in conjunction with the embodiments disclosed herein can be implemented directly with hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory RAM (Random Access Memory), memory, read-only memory ROM (Read Only Memory), electrically programmable EPROM (Electrically Programmable Read Only Memory), electrically erasable programmable EEPROM (ElectricErasable Programmable Read Only Memory), register, hard disk, removable disk, CD-ROM (CompactDisc-Read Only Memory), or any other form of storage medium known in the technical field.

[0135] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0136] The scheme provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for deploying underwater network topology based on link quality, characterized in that: include: Obtaining first coordinate information of each monitoring node in the water area to be deployed and second coordinate information of the surface node; Randomly select any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as the target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value; If it does not exist, then the candidate connectivity value between the target monitoring node and the candidate relay node is calculated based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node, and the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane are obtained to determine the target relay node pointing to the surface node; The target relay node is used as a target monitoring node, and the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model is executed until a direct communication path exists between the target monitoring node and the surface node; The underwater network topology of the water area to be deployed is constructed based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes.

2. The method for deploying underwater network topology based on link quality according to claim 1, characterized in that: The checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model includes: Inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model, so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model; The connectivity value between the target monitoring node and the surface node is determined by the communication propagation loss value, the acoustic signal transmission power, the water environment noise, and the receiving directivity index of the surface node, so as to judge whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value.

3. The method for deploying underwater network topology based on link quality according to claim 2, characterized in that: Before inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model, the method further includes: Construct the communication propagation loss model, wherein the communication propagation loss model is: ； in, represents the communication propagation loss value, Representation Node With Node The distance between Indicates the number of models, The propagation factor representing the propagation geometry, According to , , , , The calculated absorption coefficient of seawater is Represented as audio frequency, Expressed as temperature, Represents water, Expressed as salinity, Expressed as the speed of sound.

4. The method for deploying underwater network topology based on link quality according to claim 3, characterized in that: The determining of the connectivity value between the target monitoring node and the surface node by using the communication propagation loss value, the acoustic signal transmission power, the water environment noise, and the receiving directivity index of the surface node includes: The signal-to-noise ratio between the target monitoring node and the surface node is calculated by a preset signal-to-noise ratio equation; wherein the preset signal-to-noise ratio equation is: ； in, represents the signal-to-noise ratio, Indicates the acoustic signal transmission power, represents the water environment noise, Indicates the receiving directivity index; The bit error rate between the target monitoring node and the surface node is calculated based on the signal-to-noise ratio by using a preset bit error rate calculation equation; wherein the preset bit error rate calculation equation is: ； The connectivity value between the target monitoring node and the surface node is determined by a preset connectivity value judgment condition and a bit error rate; wherein the preset connectivity value judgment condition is: ； in, Indicates the bit error rate threshold of inter-node communication; The connectivity value between the target monitoring node and the water surface node is determined based on the connectivity value judgment result.

5. The method for deploying underwater network topology based on link quality according to claim 2, characterized in that: The step of inputting the distance information between the target monitoring node and the water surface node and the current seawater absorption coefficient into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the water surface node through the communication propagation loss model includes: Calculate the distance information between the target monitoring node and the water surface node according to the first coordinate information and the second coordinate information of the target monitoring node; The distance information and the current seawater absorption coefficient are input into the communication propagation loss model so as to calculate the communication propagation loss value between the target monitoring node and the surface node through the communication propagation loss model.

6. The method for deploying underwater network topology based on link quality according to claim 2, characterized in that: After determining whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value, the method further includes: If so, the relay point deployment process between the target monitoring node and the surface node is skipped, and a direct communication path between the target monitoring node and the surface node is obtained.

7. The method for deploying underwater network topology based on link quality according to claim 1, characterized in that: The determining of a target relay node pointing to the surface node comprises: Determine whether there is a direct communication path between the candidate relay node and the target monitoring node according to the candidate connectivity value, and determine whether the target angle information is less than the preset angle information; wherein the preset angle information is the minimum angle information between the angle information between the target monitoring node and the water surface node and the horizontal plane and the acoustic signal emission angle of the underwater acoustic communication device on the target monitoring node; If the judgment result is that the direct communication path exists and the target angle information is less than the preset angle information, the weight information corresponding to the candidate relay nodes is calculated, and the candidate relay node with the largest weight is used as the target relay node pointing to the surface node.

8. An underwater network topology deployment device based on link quality, characterized in that: include: An information acquisition module, used to acquire first coordinate information of each monitoring node in the water area to be deployed and second coordinate information of the surface node; A first communication judgment module is used to randomly select any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as a target monitoring node, and then check whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; wherein the communication propagation loss model is used to calculate the communication propagation loss value between two nodes, so as to determine whether there is a direct communication path between the two nodes based on the distribution of the communication propagation loss value; A relay node determination module, for calculating the candidate connectivity value between the target monitoring node and the candidate relay node based on the first coordinate information, the second coordinate information, and the candidate relay node position information of the target monitoring node, if it does not exist, and obtaining the target angle information and the acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane, so as to determine the target relay node pointing to the surface node; A second communication judgment module is used to take the target relay node as a target monitoring node, and jump to execute the step of checking whether there is a direct communication path between the target monitoring node and the surface node based on the communication propagation loss model until a direct communication path exists between the target monitoring node and the surface node; A topology generation module is used to construct the underwater network topology of the water area to be deployed based on the direct communication paths between all the target monitoring nodes and the surface nodes and the communication paths between the target monitoring nodes and the surface nodes through the target relay nodes.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the steps of the underwater network topology deployment method based on link quality as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the steps of the underwater network topology deployment method based on link quality as described in any one of claims 1 to 7 are implemented.

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