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

Abstract

The present application discloses a method, apparatus, equipment and medium for deploying underwater network topology based on link quality, which relates to the field of network topology technology, 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; selecting a monitoring node as the target monitoring node from the monitoring node cluster constructed by each monitoring node, and checking whether there is a direct communication path between the target monitoring node and the surface node based on a communication propagation loss model; if not, determining the target relay node pointing to the surface node based on the first coordinate information, second coordinate information and candidate relay node position information of the target monitoring node; taking the target relay node as the target monitoring node, jumping to 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, thereby 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 underwater target area monitoring applications, when monitoring nodes transmit data to surface nodes via multiple hops, the propagation loss between underwater nodes is significantly affected by the ocean environment, such as refraction and multipath effects. Underwater acoustic communication is also significantly affected by factors such as medium inhomogeneity, temperature differences in the water, and underwater reflection and refraction, resulting in a complex distribution of propagation loss. Furthermore, due to the varying depths of the water, sensors cannot achieve omnidirectional propagation in the vertical plane underwater, which also limits the locations where nodes can be deployed in underwater networks. Therefore, existing deployment algorithms that use distance as a connectivity criterion will prevent nodes deployed between locations with acoustic shadows or high propagation losses within the assumed communication range from being inaccessible. This will cause communication between monitoring nodes and surface nodes to be lost, further impacting network connectivity and reliability. Existing methods typically use distance as a connectivity criterion. However, if acoustic shadows or high propagation losses exist within the assumed communication range, using this as a connectivity criterion can result in communication failures at deployed locations.

[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 present invention aims to provide a method, apparatus, device, and medium for deploying underwater network topology based on link quality. This method, while controlling the cost of relay node numbers, rationally constrains the deployment of relay nodes and improves the reliability of underwater acoustic sensor networks. The specific solution 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 selecting any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as a target monitoring node, and then checking whether a direct communication path exists 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 a communication propagation loss value between two nodes, so as to determine whether a direct communication path exists between the two nodes based on a distribution of the communication propagation loss values;

[0008] If it does not exist, 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, 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 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 a direct communication path exists between the target monitoring node and the surface node based on a 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 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 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 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 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, Indicates based on 、 、 、 、 The calculated seawater absorption coefficient 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, acoustic signal transmission power, water environment noise, and a 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 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 for 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 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 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 a direct communication path exists 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, determining a target relay node pointing to the surface node includes:

[0034] Determining whether a direct communication path exists between the candidate relay node and the target monitoring node based on the candidate connectivity value, and determining whether the target angle information is less than a 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 transmission 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 a device for deploying underwater network topology based on link quality, comprising:

[0037] An information acquisition module 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;

[0038] A first communication determination module is configured 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 a direct communication path exists 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 a communication propagation loss value between two nodes, so as to determine whether a direct communication path exists between the two nodes based on a distribution of the communication propagation loss values;

[0039] a relay node determination module, configured to calculate, if the target monitoring node does not exist, a 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 position information of the candidate relay node, and obtain target angle information and an acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane, so as to determine a target relay node pointing to the surface node;

[0040] a second communication determination module, configured to use the target relay node as a target monitoring node and jump to executing the step of checking whether a direct communication path exists between the target monitoring node and the surface node based on a 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 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 monitoring node 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 information is used to calculate the candidate connectivity value between the target monitoring node 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; based on the direct communication paths between all the target monitoring nodes and the surface nodes, and the communication paths between the target monitoring node and the surface node through the target relay node, the underwater network topology of the water area to be deployed is constructed. It can be seen that the communication propagation loss value between the target monitoring node and the surface node is checked through the communication propagation loss model to obtain the communication quality between the two, 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 automated process can quickly adapt to different water environments and monitoring requirements, enhancing the system's flexibility and scalability. It also ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, thereby enhancing network connectivity. Even in complex underwater environments, this ensures stable data transmission, improving the reliability and stability of the monitoring system. Intelligently selecting relay node locations maximizes network resource utilization, reducing unnecessary node deployment and energy consumption. This 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 This is 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 this application;

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

[0051] Figure 4 This is 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 embodiments described 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 efforts are within the scope of protection of the present invention.

[0055] In underwater target area monitoring applications, when monitoring nodes transmit data to surface nodes via multiple hops, the propagation loss between underwater nodes is significantly affected by the ocean environment, such as refraction and multipath effects. Underwater acoustic communication is also significantly affected by factors such as medium inhomogeneity, temperature differences in the water, and underwater reflection and refraction, resulting in a complex distribution of propagation loss. Furthermore, due to the varying depths of the water, sensors cannot achieve omnidirectional propagation in the vertical plane underwater, which also limits the locations where nodes can be deployed in underwater networks. Therefore, existing deployment algorithms that use distance as a connectivity criterion will prevent nodes deployed between locations with acoustic shadows or high propagation losses within the assumed communication range from being inaccessible. This will cause communication between monitoring nodes and surface nodes to be lost, further impacting network connectivity and reliability. Existing methods typically use distance as a connectivity criterion. However, if acoustic shadows or high propagation losses exist within the assumed communication range, using this as a connectivity criterion can result in communication failures at deployed locations.

[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 this 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 perform real-time monitoring of water quality, water temperature, water flow velocity, marine biological activity, and other monitoring information in the target marine area. The collected information is then transmitted to surface nodes via relay nodes over multiple hops, facilitating the collection of monitoring data by ground personnel or base stations. In 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 surface nodes for receiving data, the second category is monitoring nodes responsible for monitoring the target area, and the last category is relay nodes deployed between monitoring nodes and aggregation nodes to complete multi-hop transmission between surface nodes and monitoring points. 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's important to note that when deploying underwater networks in the waters to be deployed, it's crucial to ensure that the propagation loss distribution of each node's underwater acoustic communication equipment, when communicating with various locations, is within an acceptable communication range. This means that the transmission loss distribution between two nodes must be within a certain range to ensure a smooth communication path. Furthermore, locations outside the acoustic signal transmission angle of the underwater acoustic communication equipment are in the acoustic shadow zone, where the sound line cannot reach. Sensor nodes deployed in this area cannot communicate with the equipment. Within the equipment's communication range, the multipath effect of water surface reflections also causes the propagation loss distribution to be uneven with distance.

[0061] In this embodiment, in order to deploy an underwater network in the water area to be deployed, network deployment in the water area is achieved 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 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 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.

[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 that the communication propagation loss value between the target monitoring node and the surface node is calculated through the communication propagation loss model; the connectivity value between the target monitoring node and the surface node is determined based on 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 determine whether a direct communication path exists 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 based on 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 that the communication propagation loss value between the target monitoring node and the surface node is calculated through the communication propagation loss model.

[0065] It is understood that the distance information between the selected target monitoring node and the surface node, as well as the current seawater absorption coefficient, is substituted into the communication propagation loss model so that the communication propagation loss value between the two nodes can be calculated using the model. Furthermore, the connectivity value between the two nodes is further calculated and determined based on the calculated communication propagation loss value, acoustic signal transmission power, water environment noise, reception directivity index, and other parameter information. In this way, it is possible to determine whether a direct communication path exists between the target monitoring node and the surface node based on the connectivity value and the direct communication path conditions. In this way, since the primary goal of underwater network topology deployment is to ensure that all monitoring nodes can communicate with surface nodes so that monitoring data can be transmitted back to the surface for processing, there is no need to deploy additional relay nodes for monitoring nodes that can already communicate directly with surface nodes. Therefore, it is crucial to determine whether a direct communication path exists between two nodes through calculation. For target monitoring nodes that can already communicate directly with surface nodes, there is no need to deploy additional relay nodes. Furthermore, the deployment of relay nodes requires costs, including hardware, deployment, and maintenance costs. By first checking the direct communication path, unnecessary costs can be avoided. When deploying relay nodes, it's important to consider the overall performance and stability of the network. Excessive relay nodes can increase network complexity and failure rates. Therefore, by first checking direct communication paths, you can optimize the network structure and improve performance and stability.

[0066] In this embodiment, before inputting the distance information between the target monitoring node and the 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 surface node through the communication propagation loss model, the method further 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, Indicates based on 、 、 、 、 The calculated seawater absorption coefficient 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 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 for 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 determines the connectivity between the surface node and the target monitoring node, thereby determining whether a direct communication path exists between the two nodes. After completing the determination for one monitoring node, the process jumps to the step of randomly selecting any other monitoring node in the monitoring node cluster other than the one that has already been determined as the target monitoring node, and this process continues until all monitoring nodes in the entire water area to be deployed have completed the direct communication path determination step.

[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, 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 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, as Figure 2 As shown, from the current node The scenario when a (monitoring node or relay node) deploys a relay node toward the surface node. In the figure, α is the angle between the current node, 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, the candidate relay node and the horizontal plane, and θ is the angle between the candidate relay node, 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 the 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 various locations 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 position is established. Represents a candidate relay node Whether it is in the pipeline and selects weights from the pipeline The largest position 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 underwater, 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 hop 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 , 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;

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

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

[0095] 5: Record The current target monitoring 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 nodes ;

[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;

[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 for the current node toward the surface 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 structure of the underwater node topology obtained based on the above method is shown, wherein the water area to be deployed includes monitoring area 1, monitoring area 2, and monitoring area 3. The three target areas represent different key monitoring water areas in the water area to be deployed and are used to guide the deployment of monitoring nodes and data collection. For monitoring area 1, relay nodes 1-1, relay nodes 1-2, and relay nodes 1-3 are determined one by one through the solution of the present invention. 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 manner. The above communication paths from each monitoring node to the 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 monitoring node 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 information is used to calculate the candidate connectivity value between the target monitoring node 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; based on the direct communication paths between all the target monitoring nodes and the surface nodes, and the communication paths between the target monitoring node and the surface node through the target relay node, the underwater network topology of the water area to be deployed is constructed. It can be seen that the communication propagation loss value between the target monitoring node and the surface node is checked through the communication propagation loss model to obtain the communication quality between the two, 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 automated process can quickly adapt to different water environments and monitoring requirements, enhancing the system's flexibility and scalability. It also ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, thereby enhancing network connectivity. Even in complex underwater environments, this ensures stable data transmission, improving the reliability and stability of the monitoring system. Intelligently selecting relay node locations maximizes network resource utilization, reducing unnecessary node deployment and energy consumption. This 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] An information acquisition module 11 is used to obtain first coordinate information of each monitoring node in the water area to be deployed and second coordinate information of the surface node;

[0121] A first communication determination module 12 is configured 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 a direct communication path exists 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 a communication propagation loss value between two nodes, so as to determine whether a direct communication path exists between the two nodes based on a distribution of the communication propagation loss values;

[0122] a relay node determination module 13, configured to calculate, if the target monitoring node does not exist, a 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 position information of the candidate relay node, and obtain target angle information and an acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane, so as to determine a target relay node pointing to the surface node;

[0123] a second communication determination module 14, configured to use the target relay node as a target monitoring node and jump to executing the step of checking whether a direct communication path exists 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;

[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 monitoring node 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 candidate relay node position information of the target monitoring node. The candidate connectivity value between the point and the candidate relay node is obtained, and the target angle information and 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 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 node and the surface node through the target relay node. It can be seen that the communication propagation loss value between the target monitoring node and the surface node is checked by the communication propagation loss model to obtain the communication quality between the two, and the communication quality between the nodes is accurately calculated, thereby facilitating the selection of the best communication path, and then deciding whether to execute the relay node selection process. By executing the relay node selection process, the relay node position can be automatically selected, reducing manual intervention and improving deployment efficiency and accuracy. The automated process can quickly adapt to different water environments and monitoring needs, enhancing the flexibility and scalability of the system. This system ensures that all monitoring nodes can establish direct or indirect communication paths with surface nodes, enhancing network connectivity. Even in complex underwater environments, it ensures stable data transmission, improving the reliability and stability of the monitoring system. Intelligently selecting relay node locations maximizes network resource utilization, reducing unnecessary node deployment and energy consumption. This reduces network maintenance costs and improves overall economic benefits.

[0126] Furthermore, the embodiment of 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 should not be considered as any limitation to the scope of application of the present application.

[0127] Figure 6This is a 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 of the link quality-based underwater network topology deployment method disclosed in any of the aforementioned embodiments. Furthermore, 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 operating 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. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this 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. 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 resource storage, can be a read-only memory, random access memory, disk or CD, 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] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, enabling the processor 21 to calculate and process the massive amount of data 223 in the memory 22. It can be Windows Server, NetWare, Unix, Linux, etc. In addition to including computer programs capable of implementing the link quality-based underwater network topology deployment method performed by the electronic device 20 as disclosed in any of the aforementioned embodiments, the computer programs 222 may further include computer programs capable of performing other specific tasks. Data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0132] Furthermore, this application discloses a computer-readable storage medium for storing a computer program. When executed by a processor, the computer program implements the aforementioned method for deploying underwater network topology based on link quality. The specific steps of this method can be found in the corresponding content disclosed in the aforementioned embodiments and will not be further elaborated here.

[0133] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0134] Professionals may further appreciate that the units and algorithmic steps of each example described in conjunction with the embodiments disclosed herein can be implemented in 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. Professionals and technicians can 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 using 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 (Electric Erasable Programmable Read Only Memory), registers, hard disk, removable disk, CD-ROM (Compact Disc-Read Only Memory), or any other form of storage medium known in the technical field.

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

[0136] The above is a detailed introduction to the solution provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods 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 ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents 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 selecting any one monitoring node from the monitoring node cluster constructed by each of the monitoring nodes as a target monitoring node, and then checking whether a direct communication path exists 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 a communication propagation loss value between two nodes, so as to determine whether a direct communication path exists between the two nodes based on a distribution of the communication propagation loss values; If it does not exist, 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, 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 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 a direct communication path exists between the target monitoring node and the surface node based on a communication propagation loss model is executed until a direct communication path exists between the target monitoring node and the surface node; Constructing an underwater network topology of the to-be-deployed water area based on direct communication paths between all the target monitoring nodes and the surface nodes and communication paths between the target monitoring nodes and the surface nodes via target relay nodes; 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 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 surface node through the communication propagation loss model; Determining a 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, 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; Before inputting the distance information between the target monitoring node and the 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 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, Indicates based on 、 、 、 、 The calculated seawater absorption coefficient is Represented as audio frequency, Expressed as temperature, Represents water, Expressed as salinity, Expressed as the speed of sound.

2. The method for deploying underwater network topology based on link quality according to claim 1, 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 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 for 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.

3. The method for deploying underwater network topology based on link quality according to claim 1, characterized in that: Inputting the distance information between the target monitoring node and the 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 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.

4. The method for deploying underwater network topology based on link quality according to claim 1, 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.

5. 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 includes: Determining whether a direct communication path exists between the candidate relay node and the target monitoring node based on the candidate connectivity value, and determining whether the target angle information is less than a 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 transmission 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.

6. A device for deploying underwater network topology based on link quality, characterized in that: include: An information acquisition module 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; A first communication determination module is configured 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 a direct communication path exists 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 a communication propagation loss value between two nodes, so as to determine whether a direct communication path exists between the two nodes based on a distribution of the communication propagation loss values; a relay node determination module, configured to calculate, if the target monitoring node does not exist, a 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 position information of the candidate relay node, and obtain target angle information and an acoustic signal emission angle between the candidate relay node and the target monitoring node and the horizontal plane, so as to determine a target relay node pointing to the surface node; a second communication determination module, configured to use the target relay node as a target monitoring node and jump to executing the step of checking whether a direct communication path exists between the target monitoring node and the surface node based on a 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 an underwater network topology of the to-be-deployed water area based on direct communication paths between all the target monitoring nodes and the surface nodes and communication paths between the target monitoring nodes and the surface nodes via target relay nodes; The first communication judgment module is specifically configured to input the distance information between the target monitoring node and the 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 surface node through the communication propagation loss model; determine the connectivity value between the target monitoring node and the surface node through the communication propagation loss value, the acoustic signal transmission power, the water area environmental noise, and the receiving directivity index of the surface node, so as to determine whether there is a direct communication path between the target monitoring node and the surface node based on the connectivity value; The underwater network topology deployment device is further used to 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, Indicates based on 、 、 、 、 The calculated seawater absorption coefficient is Represented as audio frequency, Expressed as temperature, Represents water, Expressed as salinity, Expressed as the speed of sound.

7. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of the underwater network topology deployment method based on link quality according to any one of claims 1 to 5.

8. 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 are implemented as described in any one of claims 1 to 5.

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