Multi-sensor cooperative monitoring networking method based on communication perception integration

Abstract

The invention relates to a multi-sensor cooperative monitoring networking method based on communication perception integration. The method comprises the following steps: constructing a communication perception integration system comprising a data center and a plurality of sensors; the data center carries out deployment according to the feature data of each sensor to form a monitoring network configuration composed of a plurality of subnets, and each subnet comprises a central node sensor and a plurality of participating node sensors; each subnet positions and tracks a target in a monitoring area of the subnet in real time, reports monitoring data to the data center, and reports feature information of each node sensor to the data center at the same time; and if the subnet monitors that the target in the monitoring area of the subnet moves across the monitoring area, the subnet cooperates with the adjacent subnet to carry out target relay monitoring under the guidance of the data center. Dynamic networking can be carried out while monitoring is carried out, and relay, continuous, cross-regional and priority-level monitoring on a concerned target is completed through collaborative grouping.

Description

Technical Field

[0001] The present invention relates to the technical field of communication perception integration, and in particular to a multi-sensor collaborative monitoring networking method based on communication perception integration. Background Art

[0002] The technology in the field of communication and perception integration is based on existing communication facilities (collectively referred to as sensors) and uses electromagnetic energy in the communication frequency band to monitor the target of interest. In actual working scenarios, it is often necessary to monitor targets in a wide area environment, but most existing technologies do not support cross-regional monitoring and lack monitoring methods for "low, slow, and small" targets. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a multi-sensor collaborative monitoring networking method based on integrated communication and perception, which can dynamically network while monitoring, and complete relay, continuous, cross-regional, and priority-based monitoring of targets of interest through collaborative grouping.

[0004] The technical solution adopted by the present invention to solve the technical problem is: to provide a multi-sensor collaborative monitoring networking method based on integrated communication and perception, characterized in that it includes the following steps:

[0005] Build a communication and perception integrated system including a data center and multiple sensors;

[0006] The data center is deployed according to the characteristic data of each sensor, forming a monitoring network configuration consisting of multiple subnets, where each subnet includes a central node sensor and several participating node sensors;

[0007] Each subnet performs real-time positioning and tracking of targets within its monitoring area and reports the monitoring data to the data center, while also reporting the characteristic information of each node sensor to the data center;

[0008] If a subnet detects that a target within its monitoring area moves across monitoring areas, it will coordinate with its adjacent subnets to perform target relay monitoring under the guidance of the data center.

[0009] Further, the target relay monitoring is performed in coordination with its adjacent subnet under the guidance of the data center, including:

[0010] After the target tracking is lost, the subnet sends a "target transfer message" to the data center and its adjacent subnets and adjacent sensors;

[0011] If the target moves into the monitoring area of ​​a single adjacent subnet, the adjacent subnet will relay the monitoring of the target;

[0012] If the target moves into the overlapping monitoring area of ​​the subnets, the data center will make a priority comprehensive score based on the received detection data and feature information, and determine the subnet for target relay monitoring based on the score results;

[0013] If the target moves to an unnetworked area, a new subnet is formed using sensors deployed in the area to relay target monitoring.

[0014] Furthermore, the use of sensors deployed in the area to form a new subnet to perform target relay monitoring includes:

[0015] Determine the central node sensor of the new subnet, and have it send a "networking demand report" to the data center and its adjacent subnets and adjacent sensors to apply for the nodes to be added;

[0016] The idle sensor accepts the application and joins the new subnet;

[0017] The networked sensors decide whether to accept the scheduling and join the new subnet based on the priority comprehensive score of the atomic network:

[0018] If the priority comprehensive score of the atomic network of the currently networked sensor is higher, the new subnet application will be rejected, and the central node sensor of the new subnet will re-initiate a networking application to other networked sensors;

[0019] If the overall priority score of the Atomic Network is lower, the network application will be accepted.

[0020] Furthermore, the node sensors in each subnet rotate to perform tasks according to fixed time slices, and do not accept external scheduling within the current time slice. After the current time slice task is completed, if there is no external scheduling, it will continue to execute the next time slice task until the system task is completed, the target disappears or cross-region activities occur, and the subnet center node sensor reports the task completion status to the data center.

[0021] Furthermore, after the networked sensor accepts the networking application of the new subnet, it also includes:

[0022] The atomic network of the networked sensor sets the waiting time and saves the breakpoints of the original execution task;

[0023] If the waiting time is over, the original execution task is terminated, otherwise the sensor is scheduled to join the atomic network to continue to complete the original execution task.

[0024] Furthermore, the priority comprehensive score is evaluated based on factors including subnet idleness, subnet current mission criticality, signal strength, observation clarity, and control time determined by coverage and mobility trends.

[0025] Furthermore, after the target completes the task in the current task time slice, the movement across the monitoring area is determined by the following method:

[0026] If the target moves toward the boundary of the subnet monitoring area and there are signs of signal weakening, and the subnet adjacent to the subnet or idle sensor receives the target echo, it is considered that the target moves across the monitoring area.

[0027] Furthermore, the real-time positioning and tracking of targets within the monitoring area and reporting the monitoring data to the data center include:

[0028] Locate and track the target that appears in the monitoring area for the first time, and report the "target discovery report" to the data center;

[0029] The detected target is continuously tracked in the monitoring area. If the target disappears, a "target disappearance report" is reported to the data center.

[0030] Furthermore, each subnet performs real-time positioning and tracking of targets within its monitoring area, and each central node sensor completes the target motion state solution and reports the solution results to the nearest data center.

[0031] Furthermore, the method also includes the steps of expanding and contracting the communication perception integrated system, specifically:

[0032] When the system is expanded, if the newly added sensor exists in the data center, the sensor feature information is synchronized between the data centers. Otherwise, the communication and perception integrated system collects the sensor feature information, and the corresponding data center updates the system equipment records and coverage.

[0033] When the system shrinks:

[0034] If the remaining system data centers are less than one, or the number of remaining sensors does not meet the minimum requirement of the target monitoring task, the system will exit the working state;

[0035] If only a data center exits, the system replans the sensor path to the nearest reachable node after completing data synchronization between data centers;

[0036] If a sensor node exits, the system will re-plan the affected subnet and update the system monitoring coverage area, while real-time data synchronization of node sensors will be performed between data centers.

[0037] Beneficial Effects

[0038] Due to the adoption of the above-mentioned technical scheme, the present invention has the following advantages and positive effects compared with the prior art: the present invention forms a cross-regional joint monitoring network by combining and coordinating the available sensors in the system while satisfying the domain characteristic constraint rules. Since the subnets in this system are dynamically adjusted based on time slices, the relay, continuous and cross-regional monitoring requirements of multi-target tracking can be met; at the same time, since the central nodes of each subnet have completed the target activity status solution work in this area, the data center is only for intelligence result work, therefore, the communication, computing and storage pressure of the data center can be greatly reduced; the present invention provides a scalable collaborative networking solution, which is convenient for the adjustment of the system software and hardware environment, can be more stable and flexible to scale the system, and improve the system availability, fault tolerance and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flow chart of an embodiment of the present invention;

[0040] Figure 2 Schematic diagram of a system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0042] The embodiments of the present invention relate to a multi-sensor collaborative monitoring networking method based on integrated communication and perception, such as Figure 1 As shown, the following steps are included:

[0043] Build a communication and perception integrated system including a data center and multiple sensors;

[0044] The data center is deployed according to the characteristic data of each sensor, forming a monitoring network configuration consisting of multiple subnets, where each subnet includes a central node sensor and several participating node sensors;

[0045] Each subnet performs real-time positioning and tracking of targets within its monitoring area and reports the monitoring data to the data center, while also reporting the characteristic information of each node sensor to the data center;

[0046] If a subnet detects that a target within its monitoring area moves across monitoring areas, it will coordinate with its adjacent subnets to perform target relay monitoring under the guidance of the data center.

[0047] like Figure 2As shown, the communication perception integrated system in this embodiment can use M sensors, each of which can send and receive radar electromagnetic waves. At the same time, the internal configuration of each sensor is basically the same, and all have data processing capabilities. N (N≤M) of the M sensors can be called. It is known that the minimum number of sensors required to complete the system task is K. The system adopts a non-cooperative mode during target monitoring. Different from a single radar system, this system works in a cooperative manner among multiple sensors, that is, at a certain moment, one sensor is in a sending state, and the remaining K-1 sensors are in a sensing and receiving state; there is a duty channel between the M sensors of the system, so that the M sensors can be reached. When the system is expanded, there is a time slice setting (defined as P u ); Each sensor in the subnet completes the signal receiving and sending switching and control in time slice rotation, and the time slice is solidified (defined as P t ).

[0048] This implementation method takes target positioning and tracking as one of the key items. In the joint monitoring subnet, one sensor sends a signal at a certain moment, and the other K-1 sensors receive the signal, so K-1 time difference pairs can be formed. The system uses a time difference positioning (TDOA)-based method to complete the positioning and tracking of multiple targets, and uses the real-time positioning and tracking of multiple targets as an important dynamic networking measurement indicator.

[0049] The present invention adopts flat hierarchical management combined with edge computing to manage the information of each sensor, establishes sensor-level and data center-level sensor information management modules, and establishes a dedicated duty channel to be responsible for sensor information synchronization and task execution proprietary data synchronization.

[0050] The data center-level information management center is the sensor information management core that can be called by the whole system. It is deployed in the data center of the whole system to complete the management of the characteristic information of the available and effective sensor endpoints in the mission area. At the same time, it is associated with each sensor, provides relevant sensor characteristic information when the subnet is networked, and synchronizes with the mission sensor;

[0051] The sensor has a built-in feature information module, which is responsible for extracting the feature information of the sensor and synchronizing it with the data center. When the subnet is networked, the sensor at the subnet center completes the task of participating in sensor information management and synchronizing it with the data center.

[0052] Sensor attribute information includes: location information, stability, reliability, priority, importance, observation range, grouping and classification, and other characteristic information.

[0053] The multi-sensor collaborative initial networking of this implementation is a process in which multiple sensors dynamically form a subnet for monitoring multiple mobile targets. The system monitoring network is composed of multiple subnets and data centers.

[0054] The subnet is divided into subnet master nodes and subnet common nodes based on sensor characteristics, site attribute characteristics, communication quality characteristics, and target characteristics. The subnet master node completes the real-time monitoring data calculation of multiple targets in the subnet observation area, communicates with other network nodes outside the subnet, and coordinates the dynamic networking of the subnet. It coordinates with the central decision-making master node of the data center to initiate the feasibility of the monitoring subnet plan, and coordinates multiple subnets to complete the comprehensive networking;

[0055] At the beginning of the mission, the data center will complete the sensor deployment location planning based on the characteristic data of each sensor. During this process, the data center needs to enter and confirm the observation area for mission execution, and at the same time enter and confirm the data of the optional deployment "positions" in the area, using deployment location, coverage, historical points, priority and other rule constraints, and then use "traversal combination" combined with "Euclidean distance" to complete the initial deployment plan, forming an initial alternative plan (multiple plans) for system monitoring consisting of multiple groups of subnets.

[0056] The system is composed of multiple subnets. Each subnet consists of a subnet center node and K-1 subnet participating nodes. The subnet is in a fixed configuration state during the task time period and can be adjusted dynamically during the task. The subnet center node is the automatic initiator and manager of temporary management of task sensor nodes, target positioning and tracking, subnet state management synchronization, data reporting, and subnet networking needs. The system data center is the system task management and decision-making party, responsible for system resource management, monitoring result collection, subnet configuration, system synchronization, etc. At the same time, when the system is a large system across a large area, the system data center is multi-part, and the distributed node synchronization method is used to complete the system task scheduling and synchronization. The system task scheduling, subnet configuration, and sensor management use duty channel communication.

[0057] Due to the diversity of combinations, there is more than one reasonable solution. At the same time, the decision values ​​of the sensor combination geometric precision factor (GDOP) of various reasonable solutions are calculated, and the regional weighted method is used to calculate the comprehensive integral of the possibility of adopting each solution. The one with the higher comprehensive integral is taken as the initial configuration of the network solution for this mission.

[0058] The dynamic networking mode of sensors, the multiple subnets within the collaborative network are dynamically changing. Since the target of this system is a moving target, the tracking and monitoring of multiple targets requires dynamic adjustment of the composition of the system sensor subnet.

[0059] After the initial deployment is completed, when there is a target, each subnet of the system completes the real-time positioning and tracking of the target in the area, and at the same time completes the target motion state solution in the subnet center within the subnet, and reports the settlement results to the nearest system data center (more than one) according to the reporting requirements. The data center completes the joint labeling and storage of multi-regional targets;

[0060] Since the target of the present invention is a moving target, there must be a situation where the target moves across regions (subnet coverage area). The target cross-region joint monitoring and system dynamic mobilization adopt the following strategy: each subnet completes the target positioning and tracking in the area, and within the task time slice (P u ) is not "disturbed" by external scheduling. After completing the time slice task, if there is no external scheduling, it will continue to execute the next time slice task until the system task is completed, the target disappears, or cross-region activities occur. After the task is completed, the subnet center node will report the current task completion status of the subnet to the superior (nearest data center, the same below), and all nodes of the subnet are in normal communication monitoring state (on duty);

[0061] When the target has cross-region movement characteristics, the target relay tracking task needs to be completed. At this time, if the target first appears in the area where a certain subnet is located, the subnet will locate and track the target accordingly, and report the "target discovery report" at the same time. Continue to track the target in the area covered by the subnet, and report the "target disappearance report" to the system when the target disappears;

[0062] When the target moves toward the boundary of the subnet (positioned as A) and there are signs that the signal is gradually weakening, and at the same time, the adjacent subnet or the working node (tentatively belonging to subnet B) receives the target echo, it is basically determined that the target has moved across regions. At this time, relay tracking is required for this target. The subnet that loses target tracking will send a "target transfer report" to the data center, adjacent sensors, and adjacent subnets. During the target tracking process, the system will automatically or semi-automatically mark the target with priority, importance and other permissions. During the relay monitoring process, if the target enters the working area of ​​the subnet (B) that has been networked, the subnet (B) will complete the target relay monitoring; if the target moves to the overlapping area of ​​the subnet, the system will complete a comprehensive score based on factors such as the subnet's idleness, the criticality of the subnet's current task, the signal strength, the clarity of the observation, the coverage range, and the control time determined by the movement trend. The comprehensive score determines whether the tracking task will be assigned to the corresponding subnet;

[0063] As mentioned above, if the target transfer area is an unnetworked area, and the sensors deployed in this area can form a subnet with target tracking capabilities, then the optimal node in this area (constrained by the above rules) is used as the central node of the new subnet (S m ), send a "networking request report" to the adjacent subnet, adjacent sensor, and data center to apply for the sensor node to be added. The sensor without the task to be executed accepts this application and joins the subnet (C). The networked sensor node will complete the task time slice (P u ) task, the decision on whether to join the new subnet (C) is based on the comprehensive score of the priority of the task execution of the subnet. If the original subnet (B) has a higher score for the task execution, the new subnet application is rejected, and the network initiating node (S m) needs to re-initiate a networking application to other nodes; if the original subnet (B) has a low score for executing the task, the networking application is accepted, and the subnet (B) sets a waiting time to save the task breakpoint. The task is terminated after the waiting time ends, otherwise the original node continues to be scheduled to join the subnet (B) to complete the subsequent tasks of the breakpoint task.

[0064] This system is a system that can be expanded and contracted. The specific strategies are as follows:

[0065] The system must consist of one or more data centers, and there can be multiple data centers. When communication is normal, multiple data centers use sensor communication services to complete data synchronization. When communication services are abnormal, they use duty channels to complete data synchronization. The subnet center node is the "brain" of the subnet and is responsible for subnet task coordination, network coordination, status management, data resolution, subnet external data interaction and other tasks. It is performed by sensors that meet the conditions (constraint rules, see the previous description).

[0066] When the system is expanded, if the newly added device exists in the data center, after the characteristic parameters of the newly added sensor (as described above) are collected, the data centers will complete data synchronization to ensure that the information of the system devices in the system coverage area is consistent between the data centers; if only multiple sensors are added, the system will still collect the sensor characteristic parameters, and the data center will update the system equipment records and the system coverage information at the same time;

[0067] When the system shrinks, it is first necessary to ensure that the remaining system data centers are at least greater than or equal to one, and the remaining number of sensors meets the minimum requirement for the system to carry out target monitoring, otherwise the system will exit the working state; if only one of the data centers exits the system during shrinkage, the system completes data synchronization between data centers and re-plans the nearest reachable sensor path. If there are multiple sensor nodes in the shrinkage situation, the system needs to re-plan the system monitoring coverage area, re-plan the affected subnets, and complete the reconstruction. At the same time, real-time sensor node data synchronization is completed between multiple data centers.

Claims

1. A multi-sensor collaborative monitoring networking method based on integrated communication and perception, characterized in that: The following steps are involved: Build a communication and perception integrated system including a data center and multiple sensors; The data center is deployed according to the characteristic data of each sensor, forming a monitoring network configuration consisting of multiple subnets. Each subnet includes a central node sensor and several participating node sensors; Each subnet performs real-time positioning and tracking of targets within its monitoring area and reports the monitoring data to the data center, while also reporting the characteristic information of each node sensor to the data center; If a subnet detects that a target within its monitoring area moves across monitoring areas, it will coordinate with its adjacent subnets to perform target relay monitoring under the guidance of the data center.

2. The method according to claim 1, characterized in that The target relay monitoring is performed in coordination with its adjacent subnets under the guidance of the data center, including: After the target tracking is lost, the subnet sends a "target transfer message" to the data center and its adjacent subnets and adjacent sensors; If the target moves into the monitoring area of ​​a single adjacent subnet, the adjacent subnet will relay the monitoring of the target; If the target moves into the overlapping monitoring area of ​​the subnets, the data center will make a priority comprehensive score based on the received detection data and feature information, and determine the subnet for target relay monitoring based on the score results; If the target moves to an unnetworked area, a new subnet is formed using sensors deployed in the area to relay target monitoring.

3. The method according to claim 2, characterized in that The method of using sensors deployed in the area to form a new subnet to carry out target relay monitoring includes: Determine the central node sensor of the new subnet, and have it send a "networking request report" to the data center and its adjacent subnets and adjacent sensors to apply for the nodes to be added; The idle sensor accepts the application and joins the new subnet; The networked sensors decide whether to accept the scheduling and join the new subnet based on the priority comprehensive score of the atomic network: If the priority comprehensive score of the atomic network of the currently networked sensor is higher, the new subnet application will be rejected, and the central node sensor of the new subnet will re-initiate a networking application to other networked sensors; If the overall priority score of the Atomic Network is lower, the network application will be accepted.

4. The method according to claim 3, characterized in that The node sensors in each subnet rotate to perform tasks according to fixed time slices, and do not accept external scheduling in the current time slice. After the current time slice task is completed, if there is no external scheduling, it will continue to execute the next time slice task until the system task is completed, the target disappears or cross-region activities occur. The subnet center node sensor reports the task completion status to the data center.

5. The method according to claim 4, characterized in that After the networked sensor accepts the networking application of the new subnet, it also includes: The atomic network of the networked sensor sets the waiting time and saves the breakpoints of the original execution task; If the waiting time is over, the original execution task is terminated, otherwise the sensor is scheduled to join the atomic network to continue to complete the original execution task.

6. The method according to claim 2, characterized in that The priority composite score is evaluated based on factors including subnet idleness, subnet current mission criticality, signal strength, observation clarity, and guard time determined by coverage and mobility trends.

7. The method according to claim 1, characterized in that After the target completes the task within the current task time slice, The occurrence of movement across monitoring areas is determined by the following methods: If the target moves toward the boundary of the subnet monitoring area and there are signs of signal weakening, and the subnet adjacent to the subnet or idle sensor receives the target echo, it is considered that the target moves across the monitoring area.

8. The method according to claim 1, characterized in that The real-time positioning and tracking of targets within the monitoring area and reporting the monitoring data to the data center include: Locate and track the target that appears in the monitoring area for the first time, and report the "target discovery report" to the data center; The detected target is continuously tracked in the monitoring area. If the target disappears, a "target disappearance report" is reported to the data center.

9. The method according to claim 8, characterized in that Each subnet performs real-time positioning and tracking of targets within its monitoring area, and each central node sensor completes the target motion state solution and reports the solution results to the nearest data center.

10. The method according to claim 1, characterized in that It also includes the steps of expanding and contracting the communication perception integrated system, specifically: When the system is expanded, if the newly added sensor exists in the data center, the sensor feature information is synchronized between the data centers. Otherwise, the communication and perception integrated system collects the sensor feature information, and the corresponding data center updates the system equipment records and coverage. When the system shrinks: If the remaining system data centers are less than one, or the number of remaining sensors does not meet the minimum requirement of the target monitoring task, the system will exit the working state; If only a data center exits, the system replans the sensor path to the nearest reachable node after completing data synchronization between data centers; If a sensor node exits, the system will re-plan the affected subnet and update the system monitoring coverage area, while real-time data synchronization of node sensors will be performed between data centers.

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