Method and device for determining propagation path, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a propagation path determination method and device, electronic equipment and a storage medium, and relates to the technical field of ocean engineering, and the method comprises the steps: building an underwater node neighborhood topology according to starting and ending points and underwater environment information, calculating sound velocity profiles corresponding to the nodes by using marine environment parameters collected by each node in the underwater node neighborhood topology; calculating an underwater acoustic channel parameter between every two nodes in the communication range according to the underwater topographic data, the underwater node neighborhood topology and the sound velocity profile corresponding to each node; determining a state configuration parameter according to the underwater acoustic channel parameter between every two nodes in the communication range, and determining a target node propagation path according to the state configuration parameter; the method solves the problem that the current underwater node path planning mode is difficult to adapt to the rapid change of the underwater environment, guarantees the dynamic adjustment of the propagation path along with the underwater environment, and guarantees the real-time and rapid information propagation of the communication path based on the target node propagation path in an actual feasible region.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of ocean engineering, and particularly relate to a method and device for determining a propagation path, an electronic device, and a storage medium. BACKGROUND

[0002] Underwater acoustic communication is the main way of long-distance information transmission in the ocean, which is realized by laying more nodes in the water to work cooperatively.

[0003] At present, a reinforcement learning algorithm is used to calculate a routing decision according to underwater nodes, and a multi-objective optimization problem is determined based on path optimization modeling to realize selection of a best propagation path formed by target underwater nodes. However, since the above method is usually based on a preset, static environmental factor channel model, or is evaluated once at the initial stage of communication establishment, and due to the rapid changes in the underwater environment, the channel characteristics between nodes change greatly, therefore, the existing underwater node path planning method is difficult to adapt to the problem of rapid changes in the underwater environment, and thus the underwater communication path deviates from the actual feasible region of propagation. SUMMARY

[0004] The present application provides a method and device for determining a propagation path, an electronic device, and a storage medium, which ensures that the propagation path follows the dynamic adjustment of the underwater environment, and thus ensures that the communication path of the information propagation based on the target node propagation path is in the actual feasible region, and can propagate information in real time and quickly.

[0005] In a first aspect, the embodiments of the present application provide a method for determining a propagation path, which comprises:

[0006] According to the start and end points and the underwater environmental information, a node neighborhood topology is established, and the sound speed profile corresponding to each node is calculated using the marine environmental parameters collected by each node in the node neighborhood topology.

[0007] According to the underwater topographic data, the node neighborhood topology, and the sound speed profile corresponding to each node, the underwater acoustic channel parameters between each two nodes within the communication range are calculated.

[0008] According to the underwater acoustic channel parameters between each two nodes within the communication range, the state configuration parameters are determined, and the target node propagation path is determined according to the state configuration parameters.

[0009] The method for determining a propagation path provided by the embodiment of the present application takes the start point and the end point as the reference, takes real-time underwater environment information as the dynamic selection target, selects a target node and establishes an underwater node neighborhood topology, and can make each node in the established underwater node neighborhood topology more suitable for real-time underwater environment dynamics. Furthermore, the sound speed profile is calculated by using the marine environment parameters collected by each node, the more accurate marine environment parameters can be obtained based on the node more suitable for real-time underwater environment dynamics, and the accurate sound speed profile information is calculated, which provides an accurate data basis for determining the optimal propagation path. The underwater acoustic channel parameters between each two nodes in the communication range are determined by using the calculated accurate sound speed profile information, and the state configuration parameters are determined based on the underwater acoustic channel parameters between each two nodes in the communication range, and then the target node propagation path is determined, that is, the path planning problem is converted into a mathematical solving problem by using the underwater acoustic channel parameters that can reflect the real-time communication between two nodes, the target node propagation path that is more adaptive to the current underwater dynamic environment is obtained, the problem that the existing underwater node path planning mode is difficult to adapt to the rapid change of the underwater environment is solved, and the problem that the underwater communication path deviates from the actual feasible region is caused, the dynamic adjustment of the propagation path following the underwater environment is ensured, and then the communication path based on the target node propagation path is ensured to be in the actual feasible region, and the information can be rapidly and real-timely propagated.

[0010] In a second aspect, the embodiment of the present application further provides a device for determining a propagation path, and the device comprises:

[0011] A construction module is configured to establish an underwater node neighborhood topology according to the start point and the end point and underwater environment information, and calculate a sound speed profile corresponding to each node by using marine environment parameters collected by each node in the underwater node neighborhood topology.

[0012] A calculation module is configured to calculate underwater acoustic channel parameters between each two nodes in the communication range according to underwater topographic data, the underwater node neighborhood topology and the sound speed profile corresponding to each node.

[0013] A determination module is configured to determine state configuration parameters according to the underwater acoustic channel parameters between each two nodes in the communication range, and determine a target node propagation path according to the state configuration parameters.

[0014] In a third aspect, the embodiment of the present application further provides an electronic device, and the electronic device comprises:

[0015] at least one processor; and

[0016] a memory connected with the at least one processor in communication; wherein

[0017] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the propagation path determination method of any embodiment of the present invention.

[0018] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions for causing a processor to execute a method for determining a propagation path in any embodiment of the present invention.

[0019] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements a method for determining the propagation path of any embodiment of the present invention.

[0020] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the propagation path determination device, or it may be packaged separately from the processor of the propagation path determination device; this application does not impose any limitations on this.

[0021] The descriptions of the second, third, fourth, and fifth aspects in this application can be referred to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth, and fifth aspects can be referred to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0022] In this application, the name of the device for determining the propagation path does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0023] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A flowchart illustrating a method for determining a propagation path provided in an embodiment of the present invention;

[0026] Figure 2A flowchart illustrating another method for determining a propagation path provided in an embodiment of the present invention;

[0027] Figure 3 An example diagram of an underwater acoustic ray model provided in an embodiment of the present invention;

[0028] Figure 4 This is an example diagram of a node link provided in an embodiment of the present invention;

[0029] Figure 5 A structural diagram of a propagation path determination device provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0033] The terms “initial” and “target” in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0034] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0035] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0036] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0037] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0038] Figure 1 This is a flowchart illustrating a method for determining a propagation path according to an embodiment of the present invention. This embodiment is applicable to situations where the optimal propagation path between nodes is determined in real time based on changes in the underwater environment. This method can be executed by a propagation path determination device, which can be implemented in hardware and / or software and can be configured in an electronic device. In this embodiment, the electronic device can be a computer device used by underwater acoustic communication personnel, generally serving as the destination receiving node or the starting node. (Continue to refer to...) Figure 1 This embodiment specifically includes the following steps:

[0039] S101. Establish an underwater node neighborhood topology based on the start and end points and underwater environmental information, and calculate the sound velocity profile corresponding to the node using the marine environmental parameters collected by each node in the underwater node neighborhood topology.

[0040] The origin and destination nodes include a starting node and a destination receiving node. The starting node is the source node, which generates the data to be sent. This is typically a node that collects observation data, an underwater node that captures images of the target, or a node that detects abnormal targets. The destination receiving node is the node to which the data ultimately needs to be delivered. This is typically a surface buoy or base station with satellite communication capabilities responsible for transmitting the data back to the onshore control center, or an underwater gateway node responsible for data fusion and processing. Underwater environmental information is used to characterize the underwater environment. In this embodiment, underwater environmental information includes water depth, underwater topography, and real-time water movement. The underwater node neighborhood topology refers to the local, directly reachable network connection diagram perceived by each node based on its own communication capabilities. Marine environmental parameters are used to define real-time underwater parameter values, representing information collected for each node. In this embodiment, marine environmental parameters include seawater profile temperature, salinity, depth, noise, ocean currents, wind speed, and seabed topography.

[0041] Specifically, one implementation involves using the start and end points determined in this step, along with underwater environmental information, to select suitable locations for underwater node deployment, optionally based on historical underwater changes, thereby establishing an underwater node domain topology. Another implementation involves using the start and end points determined in this step, along with real-time underwater environmental information, to select target nodes from the existing nodes and establish an underwater node domain topology based on these target nodes. This underwater node domain topology can form a mesh network, where each node can share its location, depth, motion state, and remaining energy with other nodes. Therefore, after determining each node in the underwater node domain topology, each node can be controlled to collect marine environmental parameters, and the corresponding sound velocity profile for each node can be calculated based on these parameters.

[0042] For example, in one implementation, the possible location ranges of other relay nodes or sound source nodes outside the origin and destination points are first determined based on the underwater topography, communication range of each node, and origin and destination locations in the underwater environmental information. Then, the specific deployment locations of other nodes are determined jointly based on real-time underwater environmental information, or periodic historical underwater environmental information, the current geographical environment of the water area, and the ecological environment. Subsequently, the required nodes are deployed at the specific deployment locations and used as relay nodes. In another implementation, based on real-time underwater environmental information and predicted underwater environmental information for a period of time in the future, some nodes are selected as candidate nodes from multiple deployed nodes based on the underwater environmental information and the node communication range. Then, based on the real-time underwater dynamics and the node's own situation, a suitable node is selected as the target node from the candidate nodes.

[0043] Optionally, in this embodiment, each node is equipped with an underwater acoustic sensor, a communication module, an environmental sensor, and a computing unit. Nodes establish a domain topology through periodic broadcasting. Also, in this embodiment, the sound velocity profile information corresponding to each node can be calculated by each node itself and then sent to the electronic device.

[0044] In this embodiment, using the origin and destination as the benchmark and real-time underwater environmental information as the dynamic selection target, target nodes are selected and an underwater node domain topology is established. This allows each node in the established underwater node domain topology to better match the real-time underwater environmental dynamics. Furthermore, by using the marine environmental parameters collected by each node to calculate the sound velocity profile, more accurate marine environmental parameters can be obtained based on nodes that better match the real-time underwater environmental dynamics, and accurate sound velocity profile information can be calculated, providing a precise data foundation for subsequently determining the optimal propagation path.

[0045] S102. Calculate the underwater acoustic channel parameters between every two nodes within the communication range based on underwater topographic data, the underwater node neighborhood topology, and the corresponding sound velocity profile for each node.

[0046] The underwater topographic data refers to the topographic data of the current water area determined by a trusted third party. In this embodiment, the underwater topographic data can be obtained from public and open platforms such as the General Bathymetric Chart of the Oceans (GEBCO). The underwater acoustic channel parameters are used to quantitatively describe the characteristics of the acoustic wave propagation environment during communication between two nodes. In this embodiment, the underwater acoustic channel parameters can be divided into deterministic parameters (determined by the physical environment) and statistical parameters (used to describe randomness).

[0047] Specifically, a three-dimensional underwater terrain model can be established based on underwater terrain data. Based on the underwater node domain topology, parameters such as the position and depth of each node can be added to the three-dimensional underwater terrain model to expand the model, thereby constructing an underwater acoustic ray model. Finally, the sound velocity profile corresponding to each node calculated above is substituted into the underwater acoustic ray model. For each pair of nodes, the underwater acoustic channel parameters between each pair of nodes within the communication range are calculated using the ray tracing algorithm.

[0048] S103. Determine the state configuration parameters based on the underwater acoustic channel parameters between every two nodes within the communication range, and determine the propagation path of the target node based on the state configuration parameters.

[0049] The state configuration parameters are used to transform the path planning problem into a mathematical problem. In this embodiment, the state configuration parameters include the state space, action space, state transition function, and reward function.

[0050] Specifically, multiple original propagation paths can be determined based on the origin and destination nodes, starting from the starting node and ending at the destination receiving node. Each node in each original propagation path corresponds to a sub-state in the state space. Secondly, each original propagation path necessarily contains multiple node links (communication between two nodes constitutes one node link), and a node link can be from the starting node to any other node or from any other node to the target receiving node. Therefore, for at least one node link corresponding to each original propagation path, each node link can be used as the action space in the state configuration parameters. Furthermore, the state transition function can be determined based on the underwater acoustic channel parameters between all two nodes within the communication range, and the reward function between each pair of nodes within the communication range can be determined based on the underwater acoustic channel parameters between each pair of nodes within the communication range. Finally, after determining the state configuration parameters, the total value corresponding to each original propagation path can be calculated, and the target node propagation path can be determined based on the total value corresponding to each original propagation path.

[0051] In this embodiment, accurate acoustic velocity profile information is obtained through calculation to determine the underwater acoustic channel parameters between every two nodes within the communication range. Based on these parameters, state configuration parameters are determined, thereby determining the propagation path of the target node. In other words, the path planning problem is transformed into a mathematical problem by using underwater acoustic channel parameters that reflect the real-time communication between two nodes. This yields a target node propagation path that is more adapted to the current dynamic underwater environment. This solves the problem that existing underwater node path planning methods are difficult to adapt to rapid changes in the underwater environment, which leads to underwater communication paths deviating from the actual feasible propagation area. This ensures that the propagation path follows the dynamic adjustment of the underwater environment, thereby ensuring that the communication path based on the target node propagation path information is within the actual feasible area and can propagate information quickly and in real time.

[0052] The propagation path determination method provided in this invention uses the origin and destination as a benchmark and real-time underwater environmental information as a dynamic selection target. It selects target nodes and establishes an underwater node domain topology, ensuring that each node in the established topology better matches the real-time underwater environmental dynamics. Furthermore, by calculating the sound velocity profile using the marine environmental parameters collected by each node, more accurate marine environmental parameters can be obtained based on nodes that better match the real-time underwater environmental dynamics, and accurate sound velocity profile information can be calculated, providing a precise data foundation for subsequently determining the optimal propagation path. By calculating accurate sound velocity profiles, underwater acoustic channel parameters between any two nodes within the communication range are determined. Based on these parameters, state configuration parameters are then determined to identify the target node's propagation path. In essence, the path planning problem is transformed into a mathematical problem using underwater acoustic channel parameters that reflect real-time communication between two nodes. This yields a target node propagation path more suited to the current dynamic underwater environment. This solves the problem that existing underwater node path planning methods struggle to adapt to rapid changes in the underwater environment, leading to underwater communication paths deviating from the actual feasible propagation area. It ensures that the propagation path dynamically adjusts with the underwater environment, guaranteeing that the communication path based on the target node's propagation path remains within the actual feasible area and can propagate information quickly and in real-time.

[0053] Figure 2 This is a flowchart illustrating another method for determining a propagation path according to an embodiment of the present invention. This embodiment, based on the above embodiments, specifies the steps of establishing an underwater node neighborhood topology, calculating the sound speed profile corresponding to the node, calculating underwater acoustic channel parameters, determining state configuration parameters, and determining the propagation path of the target node. In this embodiment, the method takes the example of deploying multiple nodes underwater and needing to select a suitable node as a communication propagation node based on the current underwater environment; [Continue to refer to...] Figure 2 This embodiment may include:

[0054] S201. Determine the destination receiving node and the starting node to obtain the origin and destination.

[0055] Specifically, the destination receiving node can be determined based on the data receiving end, and the node that currently needs to transmit data to the destination receiving node can be used as the starting node; then, the destination receiving node and the starting node can be used as the origin and destination. Generally, the destination receiving node is usually a data processing center or electronic equipment used by staff, such as network management, command center, autonomous vehicle and shore-based control center; the starting node is usually a node that has collected abnormal information, observation sensor node, command node or relay node.

[0056] S202. Based on the start and end points, determine the nodes to be determined according to the water depth and topography in the underwater environment information.

[0057] Specifically, after all nodes are deployed, each node periodically broadcasts its own position, depth, and remaining energy to all other nodes except itself. Therefore, the target receiving node can obtain underwater environmental information collected by all other nodes. Furthermore, based on the water depth and terrain at each node's current location, nodes with suitable current water depths and favorable surrounding terrain can be selected as potential locations from the deployed nodes.

[0058] For example, using the underwater depth of the origin and destination as a benchmark, a range threshold for underwater depth is determined (which can be dynamically set according to the depth of the origin and destination). Nodes within this range threshold are then selected based on the current depth of each node and the range threshold. This ensures that the selected nodes are as similar in height as possible to the origin and destination, preventing them from being too deep or too shallow. It also ensures that the selected nodes are relatively close to the origin and destination in the longitudinal direction. Furthermore, from these selected nodes, based on the current terrain conditions of each node, nodes that are too close to underwater obstacles or too far from other neighboring nodes are removed. The remaining nodes are then designated as candidate nodes. This ensures that the selected candidate nodes are not only unobstructed by surrounding obstacles, guaranteeing uninterrupted communication signals, but also that they are not too far from other nearby nodes, facilitating subsequent determination of whether the node is within the communication range of nearby nodes.

[0059] In this embodiment, from all the deployed nodes, the starting and ending points are used as the reference, and the current depth and terrain of each node are used as the screening conditions. Nodes with suitable current depth and terrain conditions are initially selected as undetermined nodes, providing a basis for further determining the most suitable node for underwater information propagation.

[0060] S203. Based on the communication range of each undetermined node and the water movement of the underwater environment information, determine the target node from the undetermined nodes, and use the target node as a relay node to form an underwater node neighborhood topology established by the origin, destination and relay nodes.

[0061] The communication range refers to the maximum distance between two nodes that allows them to reliably establish a connection and exchange data. Water motion describes the movement of water bodies, such as the velocity and direction of water flow.

[0062] Specifically, during the initial selection of candidate nodes, although nodes "far from nearby nodes" are eliminated, to ensure that each selected node is within communication range of its surrounding nodes, candidate nodes can be further filtered based on their communication range, retaining nodes with "large communication ranges between two nodes or close proximity between two nodes." Furthermore, candidate nodes can be further filtered based on underwater environmental information regarding water movement. For example, candidate nodes with fast current flow can be eliminated, retaining nodes with slower current flow and whose flow direction forms an angle less than a preset angle (or is approximately parallel) to the direction of the connection line between the origin and destination. After this selection and elimination process, the target node can be determined and used as a relay node between the origin and destination, or directly as a sound source. Subsequently, the selected origin and destination and the relay node can establish a neighborhood topology through periodic broadcasting, thus forming an underwater node neighborhood topology established by the origin and destination and the relay node.

[0063] In this embodiment, when selecting a target node, the node's communication range and water movement are also taken into consideration. This enables the target node to dynamically adapt to the current underwater environment, ensuring that the selected target node can dynamically adapt to the real-time water conditions regardless of changes in the underwater environment. This provides a foundation for subsequent underwater communication based on the selected target node.

[0064] S204. For each node, determine the temperature linear correction parameter based on the seawater temperature and sound speed reference values ​​in the marine environmental parameters.

[0065] In this embodiment, "each node" refers to the origin, destination, and selected relay node. The sound speed reference value is the sound speed under standard reference conditions, specifically 1449.2 meters per second (m / s).

[0066] Specifically, by substituting the seawater temperature into the temperature linearity formula and adding the sound speed reference value, the temperature linearity correction parameter can be determined. In this embodiment, the temperature linearity formula can be: Temperature linearity correction parameter = 4.6T − 0.055T 2 +0.00029T 3 T represents the seawater temperature collected by the currently calculated node.

[0067] S205. Determine the coupling correction parameters based on seawater salinity and seawater temperature in the marine environmental parameters, and determine the pressure correction parameters based on the node depth in the marine environmental parameters.

[0068] Specifically, seawater salinity and temperature can be substituted into the salinity-temperature coupling formula to determine the coupling correction parameter, and the node depth multiplied by the node coefficient can be used to determine the pressure correction parameter. In this embodiment, the salinity-temperature coupling formula can be: Coupling correction parameter = (1.34 - 0.01T)(Sal - 35); Sal is the seawater salinity collected by the currently calculated node. The node coefficient is 0.016.

[0069] S206. Calculate the sum of the temperature linear correction parameter, the coupling correction parameter, and the pressure correction parameter to obtain the sound velocity profile corresponding to the node.

[0070] Specifically, by adding the temperature linear correction parameter, the coupling correction parameter, and the pressure correction parameter, the sound velocity profile corresponding to each node can be obtained.

[0071] For example, the sound velocity profile corresponding to each node can be directly calculated using the following formula: S204-S206 above

[0072] c = 1449.2 + 4.6T - 0.055T 2 +0.00029T 3 +(1.34-0.01T)(Sal-35)+0.016z;

[0073] Where c is the sound speed profile corresponding to the currently calculated node, in m / s; T is the seawater temperature collected by the currently calculated node, in degrees Celsius (°C); Sal is the seawater salinity collected by the currently calculated node, in meters (m), which is the Practical Salinity Unit (PSU); and z is the node depth collected by the currently calculated node.

[0074] Optionally, the aforementioned marine environmental parameters can be obtained not only from the environmental sensors carried by each node, but also from the environmental models or machine learning models in each node, and the data can be shared between nodes through low-power protocols.

[0075] In this embodiment, calculating the sound velocity profile information corresponding to each node can provide a data foundation for establishing an underwater acoustic ray model based on the node topology diagram, and ensure that accurate information is provided for determining the optimal node propagation path.

[0076] S207. Assign the sound velocity profile corresponding to each node to the nodes in the underwater node neighborhood topology to form a network node topology.

[0077] Specifically, by associating the calculated sound velocity profile of each node with the corresponding node in the underwater node domain topology, a network node topology can be formed.

[0078] S208. Using underwater topographic data as a three-dimensional reference and network node topology as the framework for underwater acoustic rays, establish an underwater acoustic ray model.

[0079] Specifically, by using underwater topographic data as a three-dimensional reference and the network node topology as the framework for underwater acoustic rays, and fitting the two together, an underwater acoustic ray model can be established.

[0080] For example, underwater topographic data and sound velocity profile data are respectively generated into three-dimensional structure files in Cartesian coordinates. For nodes in the network topology graph, when the starting node has a data packet to send, the relevant parameters can be set in the environment file to establish an underwater acoustic ray model.

[0081] For example, Figure 3 This is an example diagram of an underwater acoustic ray model provided in an embodiment of the present invention. The diagram shows an underwater acoustic ray model established using underwater topographic data at points S, D, R1, and R2, with point S as the starting node, point D as the destination receiving node, and R1 and R2 as relay nodes. The X-axis represents the longitudinal distance (km), the Y-axis represents the latitudinal distance (km), and the Z-axis represents the underwater depth (m). Furthermore, different colors (such as rainbow colors) are used to represent the water depth of the underwater topography. For example, red areas represent depths from 0 to 10 meters (elevation above 0 meters is uniformly set to 0 meters), orange areas represent depths from 10 to 20 meters, and so on. The deeper the actual depth, the shorter the wavelength and the higher the frequency corresponding to the color.

[0082] S209. For each pair of nodes within the communication range, use the ray tracing algorithm to calculate the propagation loss and multipath delay of the node link between the two nodes within the communication range in the underwater acoustic ray model.

[0083] Specifically, after establishing the underwater acoustic ray model, for each pair of nodes within the communication range, the ray tracing algorithm can be used to directly calculate the propagation loss and multipath delay of the node link between the two nodes.

[0084] For example, Figure 4 This is an example diagram of node links provided in an embodiment of the present invention, such as... Figure 4 As shown, with Figure 3 Taking four nodes as an example, if data from node S needs to be transmitted underwater to node D, there will be node links: S-R1, R1-D, R1-R2, R2-D, S-R2, R2-R1, and SD. Therefore, a ray tracing algorithm is needed to calculate the propagation loss TL and multipath delay τ for each of these links.

[0085] S210. Determine the signal-to-noise ratio (SNR) of the node link based on propagation loss, background noise level, and transducer directivity, and use propagation loss, multipath delay, and the SNR of the node link as underwater acoustic channel parameters.

[0086] The background noise level, also known as the ocean background noise level, mainly consists of turbulence noise, ship noise, wave noise, and thermal noise, and can be obtained by environmental noise measurement instruments carried by the node. Transducer directivity refers to the distribution characteristics of the acoustic energy (or sensitivity) of a transducer (an underwater "antenna" that can both emit and receive sound waves) in different directions in space.

[0087] Specifically, the signal-to-noise ratio for each node link can be calculated using the following formula:

[0088] SNR = SL - TL - (NL - DI);

[0089] Wherein, SNR is the signal-to-noise ratio corresponding to the node link; SL is the source level of the sound source, which describes the sound intensity of the node sound source at the reference point in its own radiated sound field, and is a known quantity in practice; TL is the propagation loss; NL is the background noise level; and DI is the transducer directivity.

[0090] Furthermore, after calculating the propagation loss, multipath delay, and signal-to-noise ratio (SNR) for each node link, these parameters can be used as underwater acoustic channel parameters. Among these, deterministic parameters can be propagation loss and multipath delay; statistical parameters can be signal-to-noise ratio (SNR).

[0091] In this embodiment, the underwater acoustic channel parameters of the communication propagation link between nodes can be quickly simulated based on the underwater acoustic ray model, which can provide an accurate data basis for selecting the best link and then determining the optimal node propagation path based on the best link.

[0092] S211. Using the starting node as the initial node and the target receiving node as the final node, determine at least one original propagation path based on the relay node.

[0093] Specifically, by taking the starting node as the initial node and the target receiving node as the final node, and passing through any relay node in between, at least one original propagation path can be determined.

[0094] For example, with Figure 2 Taking four points as an example, the original propagation path from S to D can include: S→D, S→R1→D, S→R2→D, S→R1→R2→D, and S→R2→R1→D.

[0095] S212. For each original propagation path, determine a subset of actions in the action set that corresponds to the original propagation path, based on the initial node, relay node and terminal node corresponding to the original propagation path.

[0096] Here, the action set refers to the actions that can be performed from one node position to the next node position; in this embodiment, each action subset in the action set represents the path taken from the current node to the next node in the original propagation path corresponding to it, and optionally the actions are limited to neighboring nodes within the current communication range.

[0097] Specifically, each original propagation path can correspond to a subset of actions in an action set. Therefore, based on the initial node, relay node, and terminal node in each original propagation path, the subset of actions corresponding to each original propagation path in the corresponding action set can be determined.

[0098] For example, continuing from the above example, if the original propagation path is S→D, then the subset of actions in the action set is {"propagated to D"}; if the original propagation path is S→R1→D, then the subset of actions in the action set is {"propagated to R1", "propagated to D"}; if the original propagation path is S→R2→D, then the subset of actions in the action set is {"propagated to R2", "propagated to D"}; if the original propagation path is S→R1→R2→D, then the subset of actions in the action set is {"propagated to R1", "propagated to R2", "propagated to D"}; if the original propagation path is S→R2→R1→D, then the subset of actions in the action set is {"propagated to R2", "propagated to R1", "propagated to D"}.

[0099] S213. Determine the state transition function based on the signal-to-noise ratio (SNR) of all node links, and determine the reward function based on the energy consumption, multipath delay, and SNR of each node link.

[0100] Energy consumption refers to the electrical energy consumed by sensor nodes in the network when performing tasks such as communication, data acquisition, processing, and forwarding.

[0101] Specifically, the state transition function can be calculated using the following formula and based on the signal-to-noise ratio of all node links:

[0102] ;

[0103] Among them, SNR i→j This refers to the signal-to-noise ratio of the node link from node i to node j.

[0104] Specifically, the reward function can be determined using the following formula:

[0105] R(s,a,s')=α×SNR-β×τ-δ×EC+R misson +R des ;

[0106] Where R(s, a, s') represents the immediate reward for performing action a in the current state s and transitioning to the next state s'. For example, performing the action a (movement a) to move to node j at node i (current state s) and successfully reaching node j (next state) s' after the move; α, β, and δ are weighting factors, which can be fixed values ​​or weights adjusted according to actual conditions; SNR is the signal-to-noise ratio of the node link transitioning from the current state to the next state; EC is the energy loss; R misson The reward for the task objective is a large positive number if the data packet successfully reaches the next state, and a large negative number as a penalty if the transmission fails or the packet is lost. This value can be obtained when the destination receiving node sends feedback information to the originating node; R des The reward is a very large positive number if the data packet is successfully transmitted to the final destination node.

[0107] For example, the reward function is determined based on the energy loss, multipath delay, and signal-to-noise ratio of each node link, including:

[0108] (i) Obtain the real-time energy of each node and determine the real-time environmental parameters.

[0109] In this context, the real-time energy of each node represents the remaining available energy for that node. Real-time environmental parameters refer to the real-time environmental conditions at the node's location; in this embodiment, the real-time environmental parameters include the current time and water movement.

[0110] Specifically, the real-time energy of each node is acquired, and the current time and water movement conditions are determined. Optionally, the current time can be day or night, and the water movement conditions can be the size of the wind and waves.

[0111] (ii) Determine the first weight of signal-to-noise ratio and the second weight of multipath delay based on real-time environmental parameters, and determine the third weight of energy consumption based on the real-time energy of all nodes.

[0112] Wherein, the first weight is used to adjust the signal-to-noise ratio, the second weight is used to adjust the multipath delay, and the third weight is used to adjust the energy loss; in this embodiment, the first weight is α in the above formula, the second weight is β in the above formula, and the third weight is δ in the above formula.

[0113] Specifically, the third weight value is related to the real-time energy of all nodes; the lower the real-time energy of the next state node, the larger the third weight value can be. The first and second weight values ​​are related to the current time and water movement. Their impact on the signal-to-noise ratio and latency varies depending on the current time stage or water movement state. Therefore, the values ​​of the first and second weights can be determined based on the current time and water movement state; for example, the first weight value can be smaller at night or when water movement is relatively stable, and larger during the day or when water movement is more intense. The sum of the first, second, and third weights is always equal to 1.

[0114] For example, when the real-time energy of nodes other than the origin and destination is below 50% of the total energy, the third weight is larger, and vice versa. Also, during the day and in windy / wavey weather (e.g., waves greater than 1m), interference is greater, so the first weight is larger; at night, when latency requirements are higher, the second weight is larger. A specific example is: when the real-time energy of a relay node exceeds 50%, if it is daytime or windy / wavey, the first weight: second weight: third weight = 0.6:0.3:0.1; if it is nighttime, the first weight: second weight: third weight = 0.4:0.5:0.1. When the real-time energy of a relay node is below 50%, if it is daytime or windy / wavey, the first weight: second weight: third weight = 0.3:0.2:0.5; if it is nighttime, the first weight: second weight: third weight = 0.2:0.3:0.5.

[0115] Optionally, in specific implementations, dynamic selection can be made based on environmental and time information to ensure the reliability and survival rate of the transmission link.

[0116] In this embodiment, the values ​​of the first weight related to the signal-to-noise ratio, the second weight related to multipath delay, and the third weight related to energy loss in the reward function are associated with the dynamic environment in which the node is located. This can ensure the reliability and survival rate of the transmission link, and thus enable the calculated reward function to be closer to the actual dynamic situation, providing accurate reference data for determining the optimal transmission path.

[0117] (iii) Determine the reward function based on the first weight, signal-to-noise ratio, second weight, multipath delay, third weight and energy loss.

[0118] Specifically, after determining the first weight, the second weight, and the third weight, the reward function corresponding to each node link can be calculated according to the formula above.

[0119] Alternatively, in the above formula, R can be set to a value that is more specific to the actual situation. misson A reward of 3 is given for successful transmission, and a penalty of -3 is given for failure or packet loss; assuming the packet reaches the destination receiving node, then R...des The reward is 10.

[0120] S214. Determine at least one original propagation path, the action subsets corresponding to all original propagation paths, the state transition function, and the reward function as state configuration parameters.

[0121] Specifically, at least one original propagation path, a subset of actions corresponding to all original propagation paths, a state transition function, and a reward function can be used as state configuration parameters.

[0122] S215. Set the destination receiving node as the current node.

[0123] Specifically, in the initial stage, the destination receiving node can be used as the current node.

[0124] S216. Select an intermediate propagation path containing the current node from at least one original propagation path, and determine the target node link containing the current node based on the action subset corresponding to the intermediate propagation path, the reward function of the node link containing the current node, and the state transition function.

[0125] Specifically, from the original propagation path, an intermediate propagation path containing the current node is selected, and from the intermediate propagation path, a node link containing the current node is selected; then, the optimal node link among all node links containing the current node is calculated as the target node link according to the following formula:

[0126] V t+1 (s)=max{R(s,a,t)+γ∑s'P(s'|s,a)×V t (s')};

[0127] Where t is the current time, and t+1 is the next time. This can be understood as the node i (current state s) performing the action of moving to node j (action a) at the current time t, and successfully reaching node j (next state) at the next time t+1 after the move; γ is the discount factor, which can be 1 in this embodiment; P(s'|s, a) is a subset of P, representing the probability transition function of state transition when an action is taken; V t (s') is the value function corresponding to reaching the next state s'. In this embodiment, when s' corresponds to the destination receiving node, V t (s') = 0. In this embodiment, "action a" is an action from the action set corresponding to the intermediate propagation path, which is one of the aforementioned action subsets corresponding to the intermediate propagation path.

[0128] S217. Take the other node in the target node link besides the current node as the current node.

[0129] Specifically, determine whether there are any other nodes in the target node link besides the current node that are not the current node, and then designate the other node that is not the current node as the current node.

[0130] S218. Determine if the current node is the starting node; if yes, continue to execute S219; if no, return to execute S216.

[0131] S219. Integrate all target node links to obtain the target node propagation path.

[0132] Specifically, examples of S215-S219 above are as follows: Because in the above formulas, it is required to obtain "V" t+1 (s) means that we must first find "V". t Therefore, in the actual solution process, it is necessary to calculate from the destination receiving node back to the starting node. Thus, if the current node is the destination receiving node D, V can be directly determined. t+1 (s) = 0; therefore, the obtained V t+1 (s) = 0 as “V t (s')”, select an intermediate propagation path containing the current node from at least one of the above original propagation paths, and then match the three reward functions R(s, a, t) corresponding to the node links (such as R1→D, R2→D or S→D) containing D in the intermediate propagation path with “γ∑s'P(s'|s, a)×V” respectively. t The values ​​obtained by adding the values ​​of (s') are added together to get the values ​​corresponding to the three node links. At this point, the largest value can be selected as "V". t+1 (s)”. Simultaneously, the node link corresponding to the largest selected value is the target node link. Assuming the target node link is R1→D, then the other node (R1) in the target node link that is not the current node (D) is taken as the current node. It is determined that the current node is not the starting node, and the process returns to step S216; that is, first, the largest value “V” is selected. t+1 (s)” as “V” at this time t (s')”, then select intermediate propagation paths containing all R1 from the original propagation path, and select two node links containing R1 (such as R2→R1, S→R1) from them, calculate the two reward functions R(s, a, t) corresponding to these two node links, and respectively compare them with “γ∑”. s’ P(s'|s,a)×V t Add the values ​​obtained from (s') together; then select the largest value as "V". t+1(s)”; Assuming the node link corresponding to the largest value is S→R1, then S→R1 is the target node link; Continue to select another node (S) in the target node link that is not the current node (R1) as the current node. At this time, it can be determined that the current node is the starting node. Therefore, the step of integrating all target node links in S219 can be directly executed to obtain the target node propagation path. That is, the target node propagation path S→R1→D can be obtained in the end.

[0133] Optionally, during the actual execution of steps S215-S219 above, if a node needs to transmit data packets and detects that the total change in environmental parameters (such as the marine environmental parameters mentioned above) exceeds the environmental change threshold (e.g., 5%), it can directly return to S204 / S102 to reuse the marine environmental parameters to determine the sound speed profile of each node and recalculate the subsequent steps. This makes the target nodes in the final target node propagation path more adapted to the real-time environment.

[0134] Optionally, under certain circumstances (e.g., when the underwater environment is relatively stable), if the changes in environmental parameters acquired by a certain node exceed the single change threshold in multiple acquisition cycles (with a high frequency, such as 3 seconds per acquisition cycle) (e.g., the changes in environmental parameters between the first and second acquisition cycles, between the second and third acquisition cycles, and between the third and fourth acquisition cycles all exceed the single change threshold), the user can choose whether to reselect a relay node to ensure that the underwater environment in which each node is located is relatively stable, thereby ensuring the accuracy of the determination of the target node's propagation path.

[0135] In this embodiment, the above steps are applicable to scenarios where multiple nodes are engaged in collaborative networking operations or observations in complex marine environments. Based on environmental parameters such as temperature, salinity, depth, seabed topography, noise, current, waves, wind speed, and boundary conditions acquired in real time by the nodes, the propagation loss and time delay during the data transmission process from the starting node to the destination receiving node can be simulated and calculated. At the same time, combined with the energy consumption of the nodes themselves, the relay nodes are dynamically planned and selected to form the optimal propagation path. The propagation path is dynamically updated as the environment changes, thereby improving the reliability, efficiency, and robustness of underwater acoustic propagation.

[0136] Figure 5 A structural diagram of a propagation path determination device provided in an embodiment of the present invention is shown below. Figure 5 As shown, the device includes:

[0137] Module 501 is used to establish an underwater node neighborhood topology based on the origin and destination and underwater environment information, and to calculate the sound velocity profile corresponding to the node using the marine environment parameters collected by each node in the underwater node neighborhood topology.

[0138] The calculation module 502 is used to calculate the underwater acoustic channel parameters between every two nodes within the communication range based on underwater topographic data, the underwater node neighborhood topology, and the sound velocity profile corresponding to each node.

[0139] The determination module 503 is used to determine the state configuration parameters based on the underwater acoustic channel parameters between every two nodes within the communication range, and to determine the propagation path of the target node based on the state configuration parameters.

[0140] Based on the above embodiments, an underwater node neighborhood topology is established according to the origin and destination and underwater environment information. The construction module 501 is specifically used for:

[0141] The destination receiving node and the starting node are determined to obtain the origin and destination. Based on the origin and destination, the undetermined nodes are determined according to the water depth and topography in the underwater environment information. The target node is determined from the undetermined nodes according to the communication range of each undetermined node and the water movement in the underwater environment information, and the target node is used as the relay node to form an underwater node neighborhood topology established by the origin and destination and the relay node.

[0142] Based on the above embodiments, the sound velocity profile corresponding to each node is calculated using marine environmental parameters collected from each node in the underwater node neighborhood topology. Module 501 is specifically used for:

[0143] For each node, a linear temperature correction parameter is determined based on the seawater temperature and sound speed reference values ​​in the marine environmental parameters; a coupling correction parameter is determined based on the seawater salinity and seawater temperature in the marine environmental parameters; and a pressure correction parameter is determined based on the node depth in the marine environmental parameters. The sum of the linear temperature correction parameter, the coupling correction parameter, and the pressure correction parameter is calculated to obtain the sound speed profile corresponding to the node.

[0144] Based on the above embodiments, the calculation module 502 is specifically used for:

[0145] The sound velocity profile corresponding to each node is mapped to the nodes in the underwater node neighborhood topology to form a network node topology. Using underwater topographic data as a three-dimensional reference and the network node topology as the underwater acoustic ray framework, an underwater acoustic ray model is established. For every two nodes within the communication range, the ray tracing algorithm is used to calculate the propagation loss and multipath delay of the node link between the two nodes within the communication range in the underwater acoustic ray model. The signal-to-noise ratio corresponding to the node link is determined based on the propagation loss, background noise level, and transducer directivity, and the propagation loss, multipath delay, and signal-to-noise ratio corresponding to the node link are used as underwater acoustic channel parameters.

[0146] Based on the above embodiments, state configuration parameters are determined according to the underwater acoustic channel parameters between every two nodes within the communication range. Specifically, the determining module 503 is used for:

[0147] The process begins with the starting node as the initial node and the target receiving node as the final node, and determines at least one original propagation path based on relay nodes. For each original propagation path, a subset of actions corresponding to the original propagation path is determined from the action set based on the initial node, relay node, and final node. The state transition function is determined based on the signal-to-noise ratio (SNR) of all node links, and the reward function is determined based on the energy loss, multipath delay, and SNR of each node link. The at least one original propagation path, the subset of actions corresponding to all original propagation paths, the state transition function, and the reward function are then defined as state configuration parameters.

[0148] Based on the above embodiments, a reward function is determined according to the energy loss, multipath delay, and signal-to-noise ratio of each node link. The determining module 503 is specifically used for:

[0149] Obtain the real-time energy of each node and determine the real-time environmental parameters; determine the first weight of signal-to-noise ratio and the second weight of multipath delay based on the real-time environmental parameters, and determine the third weight of energy loss based on the real-time energy of all nodes; determine the reward function based on the first weight, signal-to-noise ratio, second weight, multipath delay, third weight and energy loss.

[0150] Based on the above embodiments, the target node propagation path is determined according to the state configuration parameters. Specifically, the determining module 503 is used for:

[0151] The destination receiving node is set as the current node, and an intermediate propagation path containing the current node is selected from at least one original propagation path. The target node link containing the current node is determined based on the action subset corresponding to the intermediate propagation path, the reward function of the node link containing the current node, and the state transition function. The other node in the target node link besides the current node is set as the current node. It is determined whether the current node is the starting node. If the current node is the starting node, all target node links are integrated to obtain the target node propagation path. If the current node is not the starting node, the process returns to the step of selecting an intermediate propagation path containing the current node from at least one original propagation path.

[0152] The propagation path determination device provided in the embodiments of the present invention can execute the propagation path determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0153] It is worth noting that in the embodiments of the above-mentioned propagation path determination device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0154] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 6 A block diagram is shown of an exemplary electronic device 11 suitable for implementing embodiments of the present invention. Figure 6 The electronic device 11 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0155] like Figure 6 As shown, the electronic device 11 is represented in the form of a general-purpose computing electronic device. The components of the electronic device 11 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0156] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0157] Electronic device 11 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 11, including volatile and non-volatile media, removable and non-removable media.

[0158] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 11 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6As not shown, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0159] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0160] Electronic device 11 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 11, and / or with any device that enables electronic device 11 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 11 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. Figure 6 As shown, network adapter 20 communicates with other modules of electronic device 11 via bus 18. It should be understood that, although... ​ As not shown, other hardware and / or software modules may be used in conjunction with electronic device 11, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0161] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, such as implementing the propagation path determination method provided in this embodiment. Of course, those skilled in the art will understand that the processor can also implement the technical solutions of the propagation path determination method provided in any embodiment of the present invention.

[0162] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements, for example, the method for determining a propagation path provided in this invention. The computer storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0163] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0164] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0165] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for determining a propagation path as provided in any embodiment of this invention. The computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0167] Furthermore, the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with the relevant provisions of national laws and regulations.

[0168] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining a propagation path, characterized in that, The method includes: An underwater node neighborhood topology is established based on the origin and destination points and underwater environmental information, and the sound velocity profile corresponding to each node is calculated using the marine environmental parameters collected by each node in the underwater node neighborhood topology. Based on underwater topographic data, the underwater node neighborhood topology, and the sound velocity profile corresponding to each node, the underwater acoustic channel parameters between every two nodes within the communication range are calculated. Based on the underwater acoustic channel parameters between any two nodes within the communication range, state configuration parameters are determined, and the propagation path of the target node is determined based on the state configuration parameters.

2. The method according to claim 1, characterized in that, The process of establishing an underwater node neighborhood topology based on the origin and destination points and underwater environment information includes: The destination receiving node and the starting node are determined to obtain the origin and destination; Based on the starting and ending points, the nodes to be determined are determined according to the water depth and topography in the underwater environment information; Based on the communication range of each undetermined node and the water movement of the underwater environment information, a target node is determined from the undetermined nodes, and the target node is used as a relay node to form the underwater node neighborhood topology established by the origin and destination and the relay node.

3. The method according to claim 1, characterized in that, The calculation of the sound velocity profile corresponding to each node using marine environmental parameters collected from each node in the underwater node's neighborhood topology includes: For each node, a temperature linear correction parameter is determined based on the seawater temperature and sound speed reference values ​​in the marine environmental parameters. The coupling correction parameters are determined based on the seawater salinity and seawater temperature in the marine environmental parameters, and the pressure correction parameters are determined based on the node depth in the marine environmental parameters. The sum of the temperature linear correction parameter, the coupling correction parameter, and the pressure correction parameter is calculated to obtain the sound velocity profile corresponding to the node.

4. The method according to claim 2, characterized in that, The calculation of underwater acoustic channel parameters between every two nodes within communication range, based on underwater topography data, the underwater node neighborhood topology, and the corresponding sound velocity profile for each node, includes: The sound velocity profile corresponding to each node is mapped to the nodes in the underwater node neighborhood topology to form a network node topology. Using the underwater topography data as a three-dimensional reference and the network node topology as the underwater acoustic ray framework, an underwater acoustic ray model is established. For every two nodes within the communication range, the propagation loss and multipath delay of the node link between the two nodes within the communication range in the underwater acoustic ray model are calculated using the ray tracing algorithm. The signal-to-noise ratio (SNR) of the node link is determined based on the propagation loss, background noise level, and transducer directivity, and the propagation loss, multipath delay, and SNR of the node link are used as the underwater acoustic channel parameters.

5. The method according to claim 4, characterized in that, The determination of state configuration parameters based on the underwater acoustic channel parameters between every two nodes within the communication range includes: Using the starting node as the initial node and the target receiving node as the final node, at least one original propagation path is determined based on the relay node; For each original propagation path, a subset of actions corresponding to the original propagation path is determined from the action set based on the initial node, relay node, and terminal node corresponding to the original propagation path; The state transition function is determined based on the signal-to-noise ratio (SNR) of all node links, and the reward function is determined based on the energy consumption, multipath delay, and SNR of each node link. The at least one original propagation path, the action subsets corresponding to all original propagation paths, the state transition function, and the reward function are determined as the state configuration parameters.

6. The method according to claim 5, characterized in that, The step of determining the reward function based on the energy loss, multipath delay, and signal-to-noise ratio of each node link includes: Obtain the real-time energy of each node and determine the real-time environmental parameters; The first weight of the signal-to-noise ratio and the second weight of the multipath delay are determined based on the real-time environmental parameters, and the third weight of the energy loss is determined based on the real-time energy of all nodes. The reward function is determined based on the first weight, the signal-to-noise ratio, the second weight, the multipath delay, the third weight, and the energy loss.

7. The method according to claim 5, characterized in that, Determining the propagation path of the target node based on the state configuration parameters includes: The destination receiving node is taken as the current node. An intermediate propagation path containing the current node is selected from at least one original propagation path. The target node link containing the current node is determined according to the action subset corresponding to the intermediate propagation path, the reward function of the node link containing the current node, and the state transition function. The current node is the other node in the target node link besides the current node. Determine whether the current node is the starting node; If the current node is the starting node, then all target node links are integrated to obtain the target node propagation path; If the current node is not the starting node, then return to the step of selecting an intermediate propagation path that contains the current node from at least one original propagation path.

8. A device for determining a propagation path, characterized in that, The device includes: The module is used to establish an underwater node neighborhood topology based on the origin and destination and underwater environment information, and to calculate the sound velocity profile corresponding to the node using the marine environment parameters collected by each node in the underwater node neighborhood topology. The calculation module is used to calculate the underwater acoustic channel parameters between every two nodes within the communication range based on underwater topographic data, the underwater node neighborhood topology, and the sound velocity profile corresponding to each node. The determination module is used to determine the state configuration parameters based on the underwater acoustic channel parameters between every two nodes within the communication range, and to determine the propagation path of the target node based on the state configuration parameters.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the propagation path as described in any one of claims 1 to 7.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for determining the propagation path as described in any one of claims 1 to 7.

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