Target coverage optimization method and system of mobile sensor based on base station

Abstract

The invention provides a target coverage optimization method and system of a mobile sensor based on a base station, and relates to the technical field of wireless mobile sensor networks, the method comprises the following steps: constructing a mobile sensor network model, the mobile sensor network model comprising a target point set on a mobile sensor coverage line; judging whether the sensing radius of the mobile sensor is uniform or not to obtain a judgment result, and grouping the target point set according to the judgment result to obtain a total grouping set; calculating the minimum movement distance of each combination in the total grouping set covered by the mobile sensor transmitted in the base station; constructing an auxiliary graph based on the total grouping set and the minimum moving distance; and optimizing the shortest path from the source node s to the final node t of the auxiliary graph to obtain the optimal target coverage. According to the method, the mobile communication energy consumption of the mobile sensor is greatly reduced while the comprehensive coverage of the target is ensured, and the overall network efficiency and the cruising ability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless mobile sensor networks, and particularly to a method and system for optimizing target coverage of mobile sensors based on a base station. Background Art

[0002] With the continuous development of wireless sensor network technology, mobile sensor networks have been widely used in fields such as environmental monitoring, military reconnaissance, and smart homes due to their advantages such as flexibility, adaptability, and scalability.

[0003] Currently, a wireless sensor network consists of a large number of sensor nodes deployed in a monitoring area. The nodes form a multi-hop self-organizing network through wireless communication, and can cooperate to sense, collect, and process information about the sensed objects in the network coverage area, and send it to the group of interested users. In the application scenario of a wireless mobile sensor network, mobile sensor nodes are responsible for sensing, collecting, and processing information in the monitoring area, and exchanging data with a base station or other sensor nodes through wireless communication. However, high mobile communication energy consumption has always been one of the key factors restricting the performance and application scope of mobile sensor networks. Existing mobile sensor networks often focus on improving the coverage efficiency or reducing the movement cost of sensor nodes in target coverage, while ignoring the impact of mobile communication energy consumption. With the increase in the number of sensor nodes and the expansion of the monitoring area, the problem of mobile communication energy consumption becomes more prominent, resulting in a significant increase in the overall energy consumption of the network, and thus affecting the stability and durability of the network. Since the communication energy consumption of a sensor is much less than its movement energy consumption, and the movement energy consumption mainly depends on the movement distance of the mobile sensor, the total energy consumption of a wireless mobile sensor network is mainly determined by the total movement distance of the sensors. To minimize the total energy consumption of the sensor coverage target, existing technologies have also proposed to reduce energy consumption by optimizing the movement paths of sensor nodes in the west-east direction, but these methods often ignore the impact of the sensing radius of mobile sensor nodes and the target point distribution on mobile communication energy consumption. Summary of the Invention

[0004] To solve the problem in the above-mentioned existing technologies that the mobile communication energy consumption of mobile sensors cannot be reduced, the present invention proposes a method and system for optimizing target coverage of mobile sensors based on a base station, effectively reducing the mobile communication energy consumption of mobile sensors.

[0005] To achieve the above technical effects, the technical solution of the present invention is as follows:

[0006] A method for optimizing target coverage of mobile sensors based on a base station includes the following steps:

[0007] S1. Construct a mobile sensor network model, where the mobile sensor network model includes a set of target points on the mobile sensor coverage line;

[0008] S2. Determine whether the sensing radius of the mobile sensor is uniform to obtain a judgment result, and group the target point set according to the judgment result to obtain a total grouping set;

[0009] S3. Calculate the minimum moving distance for the mobile sensors emitted by the base station to cover each combination in the total grouping set;

[0010] S4. Construct an auxiliary graph based on the total grouping set and the minimum moving distance;

[0011] S5. Optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain an optimal target coverage.

[0012] Preferably, the mobile sensor network model Ι further includes the length L of the line segment where the target to be covered by the mobile sensor is located, the base station set Ψ randomly distributed on the Euclidean plane, and the radius set R of the sensing radius r of the mobile sensors emitted by the base station set Ψ. The mathematical expression of the mobile sensor network model Ι is as follows:

[0013] Ι = (L, Ψ, T, R)

[0014] Wherein, T represents the set of target points on the line covered by the mobile sensor.

[0015] Preferably, the mathematical expression of the base station set Ψ is as follows:

[0016] Ψ = {S1, S2,..., S k}

[0017] Wherein, S k represents the k-th base station;

[0018] The mathematical expression of the target point set T is as follows:

[0019] T = {1, 2,..., n}

[0020] Wherein, n represents the number of target points on the line covered by the mobile sensor.

[0021] Preferably, the grouping of the target point set according to the judgment result to obtain a total grouping set includes:

[0022] S21. If the sensing radius r of the mobile sensor is uniform, group the target point set T according to the uniform sensing radius r in the radius set R, and divide the target points that can be covered by the same mobile sensor into one group to obtain the total grouping set C in the case of uniformity; otherwise, execute S22;

[0023] S22. Group the set of target points T according to each uneven sensing radius r in the radius set R to obtain several grouped sets C. r , and take the union of all the grouped sets C r to obtain the total grouped set C in the non-uniform case.

[0024] Preferably, calculating the minimum moving distance of the mobile sensors emitted by the base station to cover each combination in the total grouped set C includes:

[0025] S31. According to the uniform sensing radius r or each uneven sensing radius r in the divided combination (i, j) in the total grouped set C, find the base station S corresponding to the minimum moving sensor distance of the combination (i, j) i , and the position coordinates of the base station S i are (x i , y i ), and the sensing radius is r;

[0026] S32. Calculate the minimum moving distance d of the mobile sensors emitted by the base station to cover each combination (i, j) in the total grouped set C s as follows:

[0027] If x i - r ≥ p(i), then d s = d(S i , (p(i) + r, 0));

[0028] If x i + r ≤ p(j), then d s = d(S i , (p(j) - r, 0));

[0029] If p(j) - r ≤ x i ≤ p(i) + r, then d s = y i ;

[0030] where p(i) is the abscissa of the target point i, and d(,) is the distance calculation function.

[0031] Preferably, constructing the auxiliary graph based on the total grouped set and the minimum moving distance includes:

[0032] S41. Add a node to each combination of the total grouped set C and add the source node s and the terminal node t to obtain the point set V;

[0033] S42. According to the connectable situation between the combinations in the total grouped set C, that is, there is no target point between the target points included in the two combinations, add an edge between the corresponding nodes of the combinations to obtain the auxiliary edge set E;

[0034] S43. For each edge in the edge set E, add a mobile sensor emitted by a base station to cover the in-node v of the edge. i The minimum moving distance d of the corresponding combination i As the edge weight, obtain the weight set ω;

[0035] S44. Use the point set V as the vertices of the auxiliary graph G, the auxiliary edge set E as the edges connecting the vertices in the auxiliary graph G, and the weight set ω as the edge weights, and construct the auxiliary graph G as the following expression:

[0036] G = (V, E, ω).

[0037] Preferably, use Dijkstra's algorithm to optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

[0038] Preferably, the task of the optimal target coverage is to find a base station for each target point to satisfy the following constraints:

[0039] Each target point is completely covered by at least one mobile sensor emitted by a base station, that is, all target points are within the sensing radius of the mobile sensor; the total moving distance of the mobile sensors emitted by the base station is minimized.

[0040] The present invention also proposes an optimization system for target coverage of mobile sensors based on base stations, including:

[0041] A mobile sensor network model construction module for constructing a mobile sensor network model, where the mobile sensor network model includes a set of target points on the mobile sensor coverage line;

[0042] A judgment module for judging whether the sensing radius of the mobile sensor is uniform, obtaining a judgment result, and grouping the set of target points according to the judgment result to obtain a total grouping set;

[0043] A minimum moving distance calculation module for calculating the minimum moving distance of each combination in the total grouping set covered by the mobile sensors emitted by the base station;

[0044] An auxiliary graph construction module for constructing an auxiliary graph according to the total grouping set and the minimum moving distance;

[0045] A target coverage optimization module for optimizing the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

[0046] The present invention also provides a computer device, which is characterized by comprising a processor, a memory, a communication interface and a communication bus, and the processor, the memory and the communication interface complete communication with each other through the communication bus;

[0047] The memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operations of the method for optimizing the target coverage of the mobile sensor based on the base station as described above.

[0048] Compared with the prior art, the beneficial effects of the technical solution of the present invention are as follows:

[0049] The present invention provides a method and a system for optimizing the target coverage of a mobile sensor based on a base station. First, it judges whether the sensing radius of the mobile sensor is uniform, and groups the target point set according to the judgment result, so as to extend the target coverage optimization method to the coverage situation of mobile sensors with uniform or non-uniform sensing radii. Then, by calculating the minimum moving distance of the mobile sensors emitted by the base station to cover each combination in the total grouped set and constructing an auxiliary graph, it optimizes the shortest path from the source node s to the terminal node t of the auxiliary graph, thereby transforming the minimum total moving distance into a problem of finding the shortest path of the auxiliary graph, finding the optimal target coverage, and achieving a significant reduction in the mobile communication energy consumption of the mobile sensor while ensuring comprehensive target coverage, and improving the overall network efficiency and battery life. Description of the Drawings

[0050] Figure 1 It represents a flowchart of a method for optimizing the target coverage of a mobile sensor based on a base station proposed in an embodiment of the present invention;

[0051] Figure 2 It represents another flowchart of a method for optimizing the target coverage of a mobile sensor based on a base station proposed in an embodiment of the present invention;

[0052] Figure 3 It represents a coverage scenario diagram proposed in an embodiment of the present invention;

[0053] Figure 4 It represents a schematic diagram of target point grouping proposed in an embodiment of the present invention;

[0054] Figure 5 It represents an auxiliary graph constructed according to the target point grouping proposed in an embodiment of the present invention;

[0055] Figure 6 It represents a structural block diagram of a system for optimizing the target coverage of a mobile sensor based on a base station proposed in an embodiment of the present invention;

[0056] Figure 7It represents a structural block diagram of a computer device proposed in an embodiment of the present invention;

[0057] 701. Processor; 702. Memory; 703. Communication interface; 704. Communication bus; 705. Executable instructions. Specific implementation manner

[0058] The accompanying drawings are only for illustrative purposes and should not be construed as a limitation of this patent;

[0059] For those skilled in the art, it is understandable that some well-known content descriptions in the accompanying drawings may be omitted;

[0060] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0061] Embodiment 1

[0062] This embodiment proposes a method for optimizing the target coverage of mobile sensors based on a base station, which finds the minimum sum of the moving distances of all mobile sensors on the premise of completely covering the targets on the line. By effectively deploying, the total moving distance of the mobile sensors is minimized as much as possible, so as to ensure the quality of network coverage and meet the monitoring requirements. The exact algorithm for transforming it into the shortest path problem is to first group the target points on the line according to the coverage by the same mobile sensor, construct an auxiliary graph according to the grouped combinations and the minimum moving distance required for the mobile sensor coverage combinations transmitted in the base station, and then find the shortest path of the auxiliary graph corresponding to the optimal coverage of the original problem. The difficulty lies in how to set the edges added between the corresponding vertices of the combinations and assign the edge weights to each edge to construct the auxiliary graph, so that each feasible coverage of the original problem corresponds to a shortest path from the source node s to the terminal node t in the auxiliary graph, so that a shortest st path of the auxiliary graph can be found corresponding to a minimum total moving distance coverage. This embodiment considers corresponding each combination to a point in the auxiliary graph and additionally adding a source node s and a terminal node t. Only when both vertices are covered by mobile sensors and there are no uncovered targets between them, that is, there are overlapping target points between the corresponding combinations or just non-overlapping but no gaps, an edge is added between the two vertices, and the edge weight corresponds to the minimum moving distance of the sensor coverage combination. Consider setting the minimum moving distance of the combination corresponding to the left end point of the sensor coverage edge as the weight of the edge.

[0063] As Figure 1 and Figure 2 shown, this embodiment proposes a method for optimizing the target coverage of mobile sensors based on a base station, including the following steps:

[0064] S1. Construct a mobile sensor network model, where the mobile sensor network model includes a set of target points covered by the mobile sensors on the line;

[0065] The mobile sensor network model Ι also includes the length L of the line segment where the target to be covered by the mobile sensors is located, the base station set Ψ randomly distributed on the Euclidean plane, and the radius set R of the sensing radius r of the mobile sensors emitted by the base station set Ψ. Among them, it is assumed that the line segment [0, L] where the target to be covered by the mobile sensors is located is on the x-axis of the Euclidean plane, and it can also be called a fence.

[0066] The mathematical expression of the mobile sensor network model Ι is as follows:

[0067] Ι = (L, Ψ, T, R)

[0068] Among them, T represents the set of target points on the line covered by the mobile sensors.

[0069] The mathematical expression of the defined base station set Ψ is as follows:

[0070] Ψ = {S1, S2,..., S k}

[0071] Among them, S k represents the k-th base station; the position coordinates of the base station S i ∈Ψ are denoted as (x i , y i ). Each base station can emit any number of mobile sensors, and the sensing radii of these sensors are uniform. Before the coverage task starts, the mobile sensors are static inside the base stations and can move in any direction according to the coverage task requirements. In the uniform case, the sensing radii of the mobile sensors emitted by different base stations are uniform; while in the non-uniform case, the sensing radii of the mobile sensors emitted by different base stations are non-uniform. It is defined that when and only when x i < y j holds, it is assumed that the base stations in Ψ will be arranged according to .

[0072] The mathematical expression of the defined target point set T is as follows:

[0073] T = {1, 2,..., n}

[0074] Among them, n represents the number of target points on the line covered by the mobile sensors, and the position coordinates of the target point i are denoted as (p(i), 0), where holds for i ∈ [n - 1].

[0075] The optimal target coverage task of the minimum total moving distance of the mobile sensors emitted by the base stations is to find a base station for each target to satisfy the following two constraint conditions:

[0076] 1) Each target point is completely covered by mobile sensors emitted by at least one base station, that is, all target points are within the sensing radius of the mobile sensors. For example, for any target point i in the target point set T, a mobile sensor s emitted by a base station can be found in Ψ, and this mobile sensor can move a distance d s to a position coordinate on the line where the target point is located as (x s , 0), and it satisfies |x s - p(i)| ≤ r.

[0077] 2) Minimize the total moving distance of all mobile sensors emitted by the base stations, that is, ∑d s obtains the minimum value.

[0078] S2. Judge whether the sensing radius of the mobile sensors is uniform to obtain a judgment result, and group the target point set according to the judgment result to obtain a total grouping set;

[0079] In S2, group the on-line target point set T according to the sensing radius r to obtain a total grouping set C. For the target point set T = {1, 2,..., n}, the position coordinate (p(i), 0) of each target point and the sensing radius r of the mobile sensor in the uniform case. For any target points i, j in T, if p(j) - p(i) ≤ 2r and p(j + 1) - p(i - 1) > 2r hold, then (i, j) is a combination of target points. For the grouping of the target point set according to the judgment result to obtain a total grouping set, it includes:

[0080] S21. If the sensing radius r of the mobile sensors is uniform, group the target point set T according to the uniform sensing radius r in the radius set R, and group the target points that can be covered by the same mobile sensor into one group to obtain the total grouping set C in the uniform case; otherwise, execute S22;

[0081] In S21, when grouping the target point set T, there are the following grouping steps:

[0082] Step S211: For target i, find the target points included between (p(i), 0) and (p(i) + 2r, 0);

[0083] Step S212: Target i forms a combination with each target point found in Step S211;

[0084] Step S213: Keep finding all combinations that meet the conditions in T until the total grouping set C is obtained.

[0085] S22. Group the target point set T according to each non-uniform sensing radius r in the radius set R to obtain several grouped sets Cr , take the union of all grouped sets C r to obtain the total grouped set C in the non-uniform case.

[0086] In S22, for the case of mobile sensors with non-uniform sensing radius r, perform the grouping process of steps S211 - S213 for each different r in R for T, and then take the union of each grouped set C obtained for each r r to obtain the total grouped set C in the non-uniform case. Obviously, in the case where the sensing radii of mobile sensors emitted by different base stations are non-uniform, grouping needs to be performed once for each different r so as to include all possible combinations of target points.

[0087] To further understand the technical solution proposed by the present invention, the following is described in conjunction with Figure 3 - Figure 4 specific embodiments of the provided coverage scenario and auxiliary graph construction method. First, group the set T of target points on the line according to the sensing radius r. The following takes the case of uniform radius as an example for illustration. Figure 3 For a coverage scenario including five base stations S1, S2, S3, S4, S5 and a set T of 7 target points, group T according to the positions of the target points in the coverage scenario and the magnitude of the sensing radius r to obtain Figure 4 . Figure 5 An auxiliary graph constructed based on the total grouped set C obtained previously and the minimum moving distance corresponding to the combination in which the mobile sensors emitted by the base stations in Ψ cover the edge entry node v i is constructed.

[0088] S3. Calculate the minimum moving distance for which the mobile sensors emitted by the base stations cover each combination in the total grouped set;

[0089] In S3, the calculation of the minimum moving distance for which the mobile sensors emitted by the base stations cover each combination in the total grouped set C includes:

[0090] S31. According to the uniform sensing radius r or each non-uniform sensing radius r, in the combination (i, j) divided in the total grouped set C, find the base station S corresponding to the minimum moving sensor distance of the combination (i, j) i , and the position coordinates of the base station S i are (x i , y i ), and the sensing radius is r;

[0091] S32. Calculate the minimum moving distance d for which the mobile sensors emitted by the base stations cover each combination (i, j) in the total grouped set C s as follows:

[0092] If xi -r ≥ p(i), then d s = d(S i , (p(i) + r, 0));

[0093] If x i + r ≤ p(j), then d s = d(S i , (p(j) - r, 0));

[0094] If p(j) - r ≤ x i ≤ p(i) + r, then d s = y i ;

[0095] Where p(i) is the abscissa of target point i, and d(,) is the distance calculation function.

[0096] S4. Construct an auxiliary graph based on the total grouping set and the minimum movement distance;

[0097] In S4, the constructing of the auxiliary graph based on the total grouping set and the minimum movement distance includes:

[0098] S41. Add a node v i = (c i,1 , c i,2 ) for each combination in the total grouping set C, and add the source node s and the terminal node t to obtain the point set V;

[0099] S42. According to the connectable situation between combinations in the total grouping set C, that is, there is no target point between the target points included in two combinations, add an edge between the corresponding nodes of the combinations. The specific operation is as follows:

[0100] When c i,1 = 1, add an edge between the source node s and v i ; when c i,2 = n, add an edge between the terminal node t and v i ; when c i,1 < c j,1 , c i,2 < c j,2 , and c j,1 ≤ c i,2 + 1, add an edge between the point v i and v j , and then obtain the auxiliary edge set E;

[0101] S43. Add the minimum movement distance d i of the mobile sensor emitted by the base station covering the incoming node v i corresponding to the combination of each edge in the edge set E as the edge weight to obtain the weight set ω;

[0102] S44. Take the point set V as the vertices of the auxiliary graph G, the auxiliary edge set E as the edges connecting the vertices in the auxiliary graph G, and the weight set ω as the weights of the edges. Construct the auxiliary graph G as the following expression:

[0103] G = (V, E, ω).

[0104] S5. Optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

[0105] Use Dijkstra's algorithm to optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage Γ. Obviously, the complete coverage of the target point set T means finding a path from the source node s to the terminal node t in the auxiliary graph G, and the optimal target coverage Γ corresponds to the shortest st path.

[0106] The task of the optimal target coverage is to find a base station for each target point to satisfy the following constraints:

[0107] Each target point is completely covered by the mobile sensors emitted by at least one base station, that is, all target points are within the sensing radius of the mobile sensors; the total moving distance of the mobile sensors emitted by the base stations is minimized.

[0108] It should be particularly noted that when the sensing radius of the mobile sensors is non-uniform, note that in step S3, when calculating the minimum moving distance of the mobile sensor coverage combination emitted by the base station, it needs to be based on the base stations corresponding to the combinations divided according to different sensing radii. Then construct the auxiliary graph and find the shortest st path until the optimal target coverage Γ in the case of non-uniform mobile sensors is obtained.

[0109] This embodiment proposes an optimization method for target coverage of mobile sensors based on base stations. For the problem of covering line targets by mobile sensors with a uniform sensing radius of the base stations, an exact algorithm based on a new transformation into a shortest path problem is designed. The line targets to be covered are grouped, and then the auxiliary graph is constructed correspondingly, so as to transform the minimum moving distance into the problem of finding the shortest path of the auxiliary graph. Moreover, the method can be extended to the case of mobile sensor coverage with non-uniform sensing radii of the base stations, to complete the coverage requirements and improve the network energy consumption performance, thereby improving the performance and quality of experience of mobile sensor coverage. The optimization method for target coverage of mobile sensors based on base stations proposed in this embodiment has a time complexity of O(n 2 ) for covering n line targets in the case of mobile sensors with a uniform sensing radius of the base stations, and a time complexity of O(|R| 2 n2 )。Meanwhile, through a large number of numerical experiments comparing with the existing state-of-the-art benchmark algorithms, the experimental results show that this method is more efficient, improving the efficiency and feasibility of finding the minimum sum of moving distances of mobile sensors in the base station network of wireless mobile sensors, and can quickly find the minimum total moving distance of mobile sensors.

[0110] Embodiment 2

[0111] Refer to Figure 6 , this embodiment proposes a target coverage optimization system for mobile sensors based on a base station, including:

[0112] A mobile sensor network model construction module for constructing a mobile sensor network model, where the mobile sensor network model includes a set of target points on the mobile sensor coverage line;

[0113] A judgment module for judging whether the sensing radius of the mobile sensor is uniform, obtaining a judgment result, and grouping the set of target points according to the judgment result to obtain a total grouping set;

[0114] A minimum moving distance calculation module for calculating the minimum moving distance of the mobile sensors emitted by the base station to cover each combination in the total grouping set;

[0115] An auxiliary graph construction module for constructing an auxiliary graph according to the total grouping set and the minimum moving distance;

[0116] A target coverage optimization module for optimizing the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain an optimal target coverage.

[0117] In this embodiment, first, by judging whether the sensing radius of the mobile sensor is uniform and grouping the set of target points according to the judgment result, the target coverage optimization method is extended to the case of mobile sensor coverage with uniform or non-uniform sensing radius. Then, by calculating the minimum moving distance of the mobile sensors emitted by the base station to cover each combination in the total grouping set and constructing an auxiliary graph, and optimizing the shortest path from the source node s to the terminal node t of the auxiliary graph, the minimum total moving distance is transformed into the problem of finding the shortest path of the auxiliary graph, and the optimal target coverage is found, effectively reducing the energy consumption in network coverage, optimizing the base station deployment, and while ensuring coverage of all target points, minimizing the total moving distance of the mobile sensors, that is, completing mobile sensor coverage with the least energy consumption, thereby reducing energy consumption and achieving persistent network coverage.

[0118] Embodiment 3

[0119] This embodiment also proposes a computer device, refer to Figure 7, including: a processor 701, a memory 702, a communication interface 703, and a communication bus 704. The processor 701, the memory 702, and the communication interface 703 complete communication with each other through the communication bus 704;

[0120] Among them: The processor 701, the memory 702, and the communication interface 703 complete communication with each other through the communication bus 704. The communication interface 703 is used for network communication with other devices such as clients or other servers. The processor 701 is used to execute executable instructions 705, and specifically can perform the operations of the target coverage optimization method for mobile sensors based on a base station. Specifically, the executable instructions 705 may include program code. The processor 701 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. The computer device includes one or more processors, which may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0121] The memory 702 is used to store the executable instructions 705. The memory 702 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0122] The executable instructions 705 can specifically be called by the processor 701 to enable the computer device to perform the following operations:

[0123] S1. Construct a mobile sensor network model, where the mobile sensor network model includes a set of target points on the mobile sensor coverage line;

[0124] S2. Judge whether the sensing radius of the mobile sensor is uniform to obtain a judgment result, and group the set of target points according to the judgment result to obtain a total grouping set;

[0125] S3. Calculate the minimum moving distance for the mobile sensors emitted by the base station to cover each combination in the total grouping set;

[0126] S4. Construct an auxiliary graph based on the total grouping set and the minimum moving distance;

[0127] S5. Optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

[0128] In this embodiment, first, it is determined whether the sensing radius of the mobile sensors is uniform. According to the determination result, the set of target points is grouped, which extends the target coverage optimization method to the case of mobile sensor coverage with uniform or non-uniform sensing radii. Then, by calculating the minimum moving distance of the mobile sensors emitted by the base station to cover each combination in the total grouped set and constructing an auxiliary graph, the shortest path from the source node s to the terminal node t of the auxiliary graph is optimized. In this way, the minimum total moving distance is transformed into the problem of finding the shortest path of the auxiliary graph, and the optimal target coverage is found, effectively reducing the energy consumption in network coverage, enabling the optimization of base station deployment, minimizing the total moving distance of the mobile sensors while ensuring all target points are covered, that is, completing the mobile sensor coverage with the least energy consumption, thereby reducing energy consumption and achieving persistent network coverage.

[0129] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A target coverage optimization method for a mobile sensor based on a base station, characterized in that: The following steps are involved: S1. Constructing a mobile sensor network model, wherein the mobile sensor network model includes a set of target points on a mobile sensor coverage line; S2. judging whether the sensing radius of the mobile sensor is uniform, obtaining a judgment result, and grouping the target point set according to the judgment result to obtain a total grouping set; S3. Calculate the minimum moving distance of each combination of the mobile sensor transmitted by the base station to cover the total grouping set; S4. Constructing an auxiliary graph based on the total grouping set and the minimum moving distance; S5. Optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

2. The target coverage optimization method of mobile sensors based on base stations according to claim 1, characterized in that: The mobile sensor network model I also includes the length L of the line segment where the target needs to be covered by the mobile sensor, the base station set Ψ randomly distributed on the Euclidean plane, and the radius set R of the perception radius r of the mobile sensor emitted by the base station set Ψ. The mathematical expression of the mobile sensor network model I is as follows: Ι=(L,Ψ,T,R) Where T represents the set of target points on the mobile sensor coverage line.

3. The target coverage optimization method of mobile sensors based on base stations according to claim 2, characterized in that: The mathematical expression of the base station set Ψ is as follows: Ψ={S1,S2,...,S k } Among them, S k represents the kth base station; The mathematical expression of the target point set T is as follows: T={1,2,...,n} Where n represents the number of target points on the mobile sensor coverage line.

4. The target coverage optimization method of mobile sensors based on base stations according to claim 2, characterized in that: The target point set is grouped according to the judgment result to obtain a total grouping set, including: S21. If the sensing radius r of the mobile sensor is uniform, the target point set T is grouped according to the uniform sensing radius r in the radius set R, and the target points that can be covered by the same mobile sensor are grouped together to obtain a total grouping set C in the uniform case; otherwise, execute S22; S22. According to each uneven perception radius r in the radius set R, the target point set T is grouped to obtain a plurality of grouping sets C r , all grouping sets C r Take the union to get the total grouping set C in the non-uniform case.

5. The target coverage optimization method based on mobile sensors of base stations according to claim 3 is characterized in that: The calculating of the minimum moving distance of each combination in the total group set C covered by the mobile sensor transmitted by the base station includes: S31. According to the uniform sensing radius r or each non-uniform sensing radius r in the total grouping set C, find the base station S with the minimum mobile sensor distance corresponding to the combination (i, j) i , base station S i The position coordinates are (x i ,y i ), the perception radius is r; S32. The minimum moving distance d of each combination (i, j) in the total grouping set C covered by the mobile sensor transmitting in the base station s The calculation is performed as follows: If x i -r≥p(i), then d s =d(S i ,(p(i)+r,0)); If x i +r≤p(j), then d s =d(S i ,(p(j)-r,0)); If p(j)-r≤x i ≤p(i)+r, then d s =y i ; Where p(i) is the horizontal coordinate of the target point i, and d(,) is the distance calculation function.

6. The target coverage optimization method based on a mobile sensor of a base station according to claim 5, characterized in that: The constructing an auxiliary graph based on the total grouping set and the minimum moving distance comprises: S41. For each combination of the total grouping set C, a node is added and the source node s and the terminal node t are added to obtain a point set V; S42. According to the connectability between the combinations in the total grouping set C, that is, if there is no target point between the target points contained in two combinations, edges are added between the corresponding nodes of the combinations to obtain an auxiliary edge set E; S43. For each edge in the edge set E, add the mobile sensor transmitted by the base station covering the edge entry node v i The minimum moving distance d of the corresponding combination i As the edge weight, we get the weight set ω; S44. The point set V is used as the vertices of the auxiliary graph G, the auxiliary edge set E is used as the edges connecting the vertices in the auxiliary graph G, and the weight set ω is used as the weight of the edge. The auxiliary graph G is constructed as follows: G=(V,E,ω).

7. The target coverage optimization method based on a mobile sensor of a base station according to claim 1, characterized in that: The Dijkstra algorithm is used to optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

8. The target coverage optimization method based on a mobile sensor of a base station according to claim 1, characterized in that: The task of the optimal target coverage is to find a base station for each target point so that it satisfies the following constraints: Each target point is completely covered by the mobile sensor transmitting in at least one base station, that is, all target points are within the sensing radius of the mobile sensor; and the total moving distance of the mobile sensor transmitting in the base station is minimized.

9. A target coverage optimization system based on a mobile sensor of a base station, characterized in that: include: A mobile sensor network model building module, used to build a mobile sensor network model, wherein the mobile sensor network model includes a set of target points on a mobile sensor coverage line; A judgment module, used for judging whether the sensing radius of the mobile sensor is uniform, obtaining a judgment result, and grouping the target point set according to the judgment result to obtain a total grouping set; A minimum moving distance calculation module, used to calculate the minimum moving distance of each combination in the total grouping set covered by the mobile sensor transmitted in the base station; An auxiliary graph construction module, used to construct an auxiliary graph according to the total grouping set and the minimum moving distance; The target coverage optimization module is used to optimize the shortest path from the source node s to the terminal node t of the auxiliary graph to obtain the optimal target coverage.

10. A computer device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the target coverage optimization method based on a mobile sensor of a base station according to any one of claims 1-8.

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