A multi-sensor cooperative monitoring networking method based on communication and perception integration

Abstract

The application relates to a multi-sensor cooperative monitoring networking method based on communication and perception integration, which comprises the following steps: constructing a communication and perception integration system comprising a data center and multiple sensors; the data center is deployed according to the characteristic data of each sensor to form a monitoring network configuration composed of multiple subnets, wherein each subnet comprises a center node sensor and a plurality of participating node sensors; each subnet performs real-time positioning tracking on the target in the monitoring area and reports the monitoring data to the data center, and meanwhile, the characteristic information of each node sensor is reported to the data center; if the subnet monitors that the target in the monitoring area moves across the monitoring area, the target relay monitoring is cooperatively performed on the target by the subnet and its adjacent subnet under the guidance of the data center. The method can dynamically network while monitoring, and through cooperation grouping, the relay, continuous, cross-area and priority-level monitoring of the target of interest can be completed.

Description

Technical Field

[0001] This invention relates to the field of integrated communication and sensing technology, and in particular to a multi-sensor collaborative monitoring networking method based on integrated communication and sensing. Background Technology

[0002] The technology in the field of integrated communication and sensing is based on existing communication facilities (collectively referred to as sensors) and uses electromagnetic energy in the communication frequency band to monitor targets 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 and networking method based on integrated communication and sensing, 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 this invention to solve its technical problem is: to provide a multi-sensor collaborative monitoring network method based on integrated communication and sensing, characterized by including the following steps:

[0005] Construct an integrated communication and sensing system that includes a data center and multiple sensors;

[0006] The data center is deployed based on the characteristic data of each sensor to form 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 location tracking of targets within its monitoring area and reports the monitoring data to the data center, while also reporting the feature information of each node sensor to the data center;

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

[0009] Furthermore, the step of coordinating target relay monitoring with its adjacent subnets under the guidance of the data center includes:

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

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

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

[0013] If the target moves to an unnetworked area, a new subnetwork is established using sensors deployed in that area to perform relay monitoring of the target.

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

[0015] The central node sensor of the new subnet is determined, and it sends a "network request message" to the data center and its adjacent subnets and adjacent sensors to request the nodes to be added;

[0016] Idle sensors accept applications and join new subnets;

[0017] The decision on whether to accept scheduling to join a new subnet is based on a comprehensive score of priority within the atomic network for already networked sensors.

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

[0019] If the priority score of the atomic network is low, the network application will be accepted.

[0020] Furthermore, the node sensors in each subnet take turns executing tasks according to fixed time slices, and do not accept external scheduling within the current time slice. If no external scheduling is available after the task in the current time slice is completed, the task in the next time slice will continue to be executed until the system task is completed, the target disappears, or cross-regional activity occurs. Then, the subnet central node sensor reports the task completion status to the data center.

[0021] Furthermore, after an already networked sensor network accepts a network application from a new subnetwork, it also includes:

[0022] Set the waiting time for the atomic network of the networked sensors and save the breakpoints of the original task execution.

[0023] If the waiting time expires, the original task will be terminated; otherwise, the sensor will be scheduled to join the atomic network to continue completing the original task.

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

[0025] Furthermore, the movement of the target across monitoring areas after completing the task within the current task time slice is determined by the following method:

[0026] If a target moves toward the boundary of its monitoring area and shows signs of gradually weakening signal, and an echo is received by a subnet or idle sensor adjacent to that subnet, then the target is considered to have moved across the monitoring area.

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

[0028] The system locates and tracks targets that appear in the monitoring area for the first time and reports a "target discovery report" to the data center.

[0029] Once a target is detected, it will be continuously tracked within the monitoring area. If the target disappears, a "target disappearance report" will be sent to the data center.

[0030] Furthermore, each subnet performs real-time positioning and tracking of targets within its monitoring area, and the sensors at each central node complete the calculation of the target's motion status and report the calculation results to the nearest data center.

[0031] Furthermore, it also includes steps for expanding and shrinking the integrated communication and sensing system, specifically:

[0032] When the system is expanded, if the newly added sensors are located in the data center, the sensor feature information is synchronized between the data centers; otherwise, the integrated communication and sensing system collects the sensor feature information, and the corresponding data center updates the system equipment records and coverage area.

[0033] When the system contracts:

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

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

[0036] If a sensor node exits, the system replans the affected subnet and updates the system's monitoring coverage area, while real-time data synchronization between data centers is performed between the node sensors.

[0037] Beneficial effects

[0038] By adopting the above-mentioned technical solution, this invention has the following advantages and positive effects compared with the prior art: This invention, through the joint and coordinated use of available sensors within the system, forms a cross-regional joint monitoring network under the constraint rules of domain characteristics. Since the subnets in this system are dynamically adjusted based on time slices, they can meet the relay, continuous, and cross-regional monitoring requirements for multi-target tracking. Simultaneously, since the central nodes of each subnet have completed the calculation of the target activity status in their respective regions, and the data center only performs intelligence result-oriented work, the communication, computing, and storage pressure on the data center can be significantly reduced. This invention provides a scalable collaborative networking solution, facilitating adjustments to the system's hardware and software environment, enabling more stable and flexible system scaling, and improving system availability, fault tolerance, and stability. Attached Figure Description

[0039] Figure 1 This is a flowchart of an embodiment of the present invention;

[0040] Figure 2 This is a system schematic diagram of an embodiment of the present invention. Detailed Implementation

[0041] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

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

[0043] Construct an integrated communication and sensing system that includes a data center and multiple sensors;

[0044] The data center is deployed based on the characteristic data of each sensor to form 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 location tracking of targets within its monitoring area and reports the monitoring data to the data center, while also reporting the feature information of each node sensor to the data center;

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

[0047] like Figure 2As shown, the integrated communication and sensing system in this embodiment uses M sensors, each capable of transmitting and receiving radar electromagnetic waves. Each sensor has a largely identical internal configuration and data processing capabilities. N (N≤M) of the M sensors can be utilized. It is known that the minimum number of sensors required to complete the system task is K. During target monitoring, the system operates in a non-cooperative mode, unlike a single radar system. This system employs a multi-sensor cooperative approach, where at any given time, one sensor is transmitting while the remaining K-1 sensors are receiving. Duty channels exist between the M sensors, ensuring reachability. The system is deployed, and each subnet has a time slice setting (defined as P) during the execution of monitoring tasks. u In the subnet, each sensor completes the signal transmission and reception switching and control by rotating through time slices, and the time slice is fixed (defined as P). t ).

[0048] This implementation focuses on target localization and tracking as a key aspect. In the system's joint monitoring subnet, one sensor transmits a signal at a given time, while K-1 other sensors receive the signal, thus forming K-1 time difference pairs. The system employs Time Difference-of-Origin (TDOA) based localization to achieve multi-target localization and tracking, using real-time multi-target localization and tracking as a crucial dynamic networking metric.

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

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

[0051] The sensor has a built-in feature information module, which is responsible for extracting the sensor's feature information and synchronizing it with the data center. When the subnet is networked, the sensor located at the subnet center completes its task to participate in sensor information management and synchronization 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 in this embodiment is a process in which multiple sensors dynamically form a monitoring subnetwork for mobile multi-targets. The system monitoring network consists of multiple subnetworks and a data center.

[0054] Based on sensor characteristics, site attribute characteristics, communication quality characteristics, and target characteristics, the subnet is divided into subnet master nodes and subnet ordinary nodes. The subnet master node completes the calculation of real-time monitoring data of multiple targets within the subnet's observation area, communicates with other network nodes outside the subnet, coordinates and manages the dynamic networking of its own subnet, coordinates with the central decision master node of the data center to initiate the feasibility of forming a monitoring subnet, and coordinates with multiple subnets to complete the comprehensive networking.

[0055] At the initial stage 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 input and confirm the observation area to be executed by the mission, and at the same time input and confirm the data of the optional deployment "sites" in the area. The deployment location, coverage, historical integration, priority and other rules are used as constraints. Then, the initial deployment planning is completed by using "traversal combination" combined with "Euclidean distance" and other methods to form an initial alternative scheme (multiple schemes) for system monitoring consisting of multiple subnets.

[0056] The system comprises multiple subnets, each consisting of a central node and K-1 participating nodes. Subnets maintain a fixed configuration for a given task period but can be dynamically adjusted during the task. The central node is responsible for temporary management of task sensor nodes, target location and tracking, subnet status management and synchronization, data reporting, and automatically initiating and managing subnet networking requests. The system data center acts as the system task manager and decision-maker, responsible for system resource management, monitoring result aggregation, subnet configuration, and system synchronization. When the system spans large regions, multiple system data centers are deployed, employing a distributed node synchronization approach for system task scheduling and synchronization. System task scheduling, subnet configuration, and sensor management utilize duty channel communication.

[0057] Due to the diverse combinations, there is more than one reasonable solution. Simultaneously, the decision values ​​of the geometrical precision factor (GDOP) for various reasonable sensor combinations are calculated. A region-weighted approach is used to calculate the probability integral of each solution, and the one with the higher integral is selected as the initial network configuration for this mission.

[0058] The sensor dynamic networking method involves multiple subnets within the collaborative network that are dynamically changing. Since this system targets moving targets, the composition of the system's sensor subnets needs to be dynamically adjusted to complete the tracking and monitoring of multiple targets.

[0059] After the initial deployment is completed, when a target exists, each subnet of the system completes real-time positioning and tracking of the target within its area. At the same time, the subnet center within its own subnet completes the target motion state calculation 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 targets in multiple areas.

[0060] Since this invention targets moving targets, there will inevitably be situations where the target moves across areas (subnet coverage areas). For cross-area joint monitoring of targets, the system dynamically mobilizes using the following strategy: each subnet completes target localization and tracking within its own area, within the task time slice (P... u Unaffected by external scheduling, after completing a 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-regional activity occurs. 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 will be in normal communication monitoring status (on duty).

[0061] When a target exhibits cross-regional movement characteristics, a relay tracking task for the target needs to be completed. In this case, if the target first appears in an area where a certain subnet is located, the subnet will locate and track the target accordingly, and report a "target discovery report". The subnet will continue to track the target within its coverage area, and will report a "target disappearance report" to the system when the target disappears.

[0062] When a target moves towards the boundary of its subnet (designated A) and shows signs of gradually weakening signal, and simultaneously, an echo is received by a neighboring subnet or a node in operation (tentatively belonging to subnet B), it is basically determined that the target has moved across areas. In this case, relay tracking is required. If the target tracking is lost, the subnet will send a "target transfer report" to the data center, adjacent sensors, and adjacent subnets. During target tracking, the system will automatically or semi-automatically assign priority and importance permissions to the target. If the target enters the working area of ​​an already networked subnet (B) during relay monitoring, that subnet (B) will complete the relay monitoring. If the target moves to an overlapping subnet area, the system will perform a comprehensive evaluation based on factors such as subnet idleness, the criticality of the current task, signal strength, observation clarity, coverage, and the control time determined by the movement trend. The comprehensive evaluation will then determine which subnet will handle the tracking task.

[0063] As mentioned above, if the target transfer area is an unnetworked area, and the sensors deployed in that area can form a subnetwork with target tracking capabilities, then the optimal node in that area (constrained by the aforementioned rules) becomes the center node of the new subnetwork (S). m The system sends a "Network Request Message" to adjacent subnets, adjacent sensors, and the data center to request the sensor nodes it intends to join. Sensors without tasks accept the request and join the subnet (C). Networked sensor nodes will complete the task time slice (P). u After completing a task within the subnet, a comprehensive score based on the task execution priority of the existing subnet determines whether to join the new subnet (C). If the task execution score of the existing subnet (B) is higher, the application for the new subnet is rejected, and the network initiating node (S)... mIf the original subnet (B) has a low task score, the network application will be accepted. At the same time, the subnet (B) will set a waiting time to save the task breakpoint. The task will be terminated after the waiting time expires. Otherwise, the original node will continue to be scheduled to join the subnet (B) to complete the subsequent tasks of the breakpoint task.

[0064] This system is one that can be expanded and shrunk, and the specific strategies are as follows:

[0065] The system must consist of at least one data center, and there can be multiple data centers. When communication is normal, multiple data centers use sensor communication services to synchronize data. When communication is abnormal, they use duty channels to synchronize data. The subnet central node is the "brain" of the subnet and is responsible for tasks such as subnet task coordination, network coordination, status management, data processing, and external data interaction. It is a sensor that meets the conditions (constraint rules, see above description).

[0066] When the system is expanded, if the newly added device is located in a data center, the data synchronization between data centers will be completed after the collection of the characteristic parameters of the newly added sensor (as described above) is completed, ensuring that the system equipment in the system coverage area is consistent between 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.

[0067] When the system shrinks, it is necessary to first ensure that there is at least one remaining system data center and that the number of remaining sensors meets the minimum requirements for the system to carry out target monitoring; otherwise, the system will exit the working state. If only one data center leaves the system during shrinkage, the system can complete data synchronization between data centers and replan the nearest reachable sensor path. If multiple sensor nodes are involved in the shrinkage, the system needs to replan the system monitoring coverage area, replan the affected subnets, and complete the reconstruction. At the same time, real-time sensor node data synchronization between multiple data centers must be completed.

Claims

1. A multi-sensor collaborative monitoring network method based on integrated communication and sensing, characterized in that, Includes the following steps: Construct an integrated communication and sensing system that includes a data center and multiple sensors. Each sensor can send and receive radar electromagnetic waves and has data processing capabilities. The data center is deployed based on the characteristic data of each sensor to form a monitoring network configuration consisting of multiple subnets. Each subnet includes a central node sensor dynamically determined based on rule constraints and several participating node sensors. The rule constraints include deployment location, coverage area, historical integration, and priority. Each subnet performs real-time positioning and tracking of targets within its monitoring area. The central node sensor completes the target motion state calculation and reports the calculated detection data to the data center. At the same time, the feature information of each node sensor is reported to the data center. If a subnet detects that a target within its monitoring area has moved across monitoring areas, it will coordinate with its neighboring subnets to perform relay monitoring of the target under the guidance of the data center. The method of coordinating target relay monitoring with its adjacent subnets under the guidance of the data center includes: After a target is lost, the subnet sends a "target transfer report" to the data center, its adjacent subnets, and adjacent sensors. If the target moves into the monitoring area of ​​a single adjacent subnet, then that adjacent subnet will perform relay monitoring of the target; If the target moves into the overlapping monitoring area of ​​the subnet, the data center will calculate a priority score based on the subnet's idle level, the criticality of the current task of the subnet, signal strength, observation clarity, coverage area and the control time determined by the target's movement trend, and determine the subnet to carry out target relay monitoring based on the score results; If the target moves to an unnetworked area, a new subnetwork is established using sensors deployed in that area to perform relay monitoring of the target. The method of using sensors deployed in the area to form a new subnet for target relay monitoring includes: Based on the aforementioned rule constraints, the central node sensor of the new subnet is determined, and it sends a "networking request message" to the data center and its adjacent subnets and adjacent sensors to request the nodes to be added. Idle sensors accept applications and join new subnets; The decision on whether to accept scheduling to join a new subnet is based on a comprehensive score of priority within the atomic network for already networked sensors. If the priority score of the atomic network of the currently networked sensors is high, the application for a new subnet is rejected, and the central node sensor of the new subnet re-initiates a network application to other networked sensors. If the overall priority score of the atomic network is low, the network application will be accepted.

2. The method according to claim 1, characterized in that, The node sensors in each subnet take turns executing tasks according to fixed time slices, and do not accept external scheduling within the current time slice. If no external scheduling is available after the task in the current time slice is completed, the task in the next time slice will continue to be executed until the system task is completed, the target disappears, or cross-regional activity occurs. Then, the subnet central node sensor reports the task completion status to the data center.

3. The method according to claim 2, characterized in that, After an already networked sensor network accepts a new subnetting request, the following also applies: Set the waiting time for the atomic network of the networked sensors and save the breakpoints of the original task execution. If the waiting time expires, the original task will be terminated; otherwise, the sensor will be scheduled to join the atomic network to continue completing the original task.

4. The method according to claim 1, characterized in that, The movement of the target across monitoring areas is determined by the following methods: If a target moves toward the boundary of its monitoring area and shows signs of gradually weakening signal, and an echo is received by a subnet or idle sensor adjacent to that subnet, then the target is considered to have moved across the monitoring area.

5. The method according to claim 1, characterized in that, The process of real-time positioning and tracking of targets within its monitoring area and reporting the monitoring data to the data center includes: The system locates and tracks targets that appear in the monitoring area for the first time and reports a "target discovery report" to the data center. Once a target is detected, it will be continuously tracked within the monitoring area. If the target disappears, a "target disappearance report" will be sent to the data center.

6. The method according to claim 1, characterized in that, It also includes steps for expanding and shrinking the integrated communication and sensing system, specifically: When expanding the system, if the newly added sensors exist in a data center, the sensor feature information is synchronized between data centers; otherwise, the integrated communication and sensing system collects the sensor feature information, and the corresponding data center updates the system equipment records and coverage area. When shrinking the system: If there is less than one remaining system data center, or the number of remaining sensors does not meet the minimum requirements for the target monitoring task, the system exits the working state. If only the data center exits, the system completes data synchronization between data centers and replans the nearest reachable node sensor path. If a sensor node exits, the system replans the affected subnet and updates the system's monitoring coverage area, while real-time data synchronization between data centers is performed between the node sensors.

Images