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CN111800200A - A transmission time planning method for parallel communication in underwater acoustic network - Google Patents

A transmission time planning method for parallel communication in underwater acoustic network Download PDF

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CN111800200A
CN111800200A CN202010540228.5A CN202010540228A CN111800200A CN 111800200 A CN111800200 A CN 111800200A CN 202010540228 A CN202010540228 A CN 202010540228A CN 111800200 A CN111800200 A CN 111800200A
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CN111800200B (en
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张军
宁更新
冯义志
季飞
余华
陈芳炯
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South China University of Technology SCUT
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
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    • H—ELECTRICITY
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    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
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Abstract

本发明公开了一种水声网络并行通信的发送时间规划方法，该方法首先将其他源节点已发送的包到达各自目的节点和当前目的节点的时刻映射到当前源节点的时间轴上，然后再对当前源节点发送包的时刻进行优化，可以消除现有方法对包到达顺序的约束，对节点的发送顺序进行自动调整，令发送时间规划的结果更合理，节点的发送时间表更紧凑，在更短时间内完成多个节点的传输，提高了并行通信的效率。本发明可以在优化过程中自动调整节点的发送顺序，无需大量搜索，减少了运算的复杂度。本发明可以广泛用于TDMA和基于握手的竞争式水声网络中。

Figure 202010540228

The invention discloses a sending time planning method for parallel communication in an underwater acoustic network. The method first maps the moments when packets sent by other source nodes reach their respective destination nodes and the current destination node to the time axis of the current source node, and then Optimizing the moment when the current source node sends packets can eliminate the existing method constraints on the arrival order of packets, and automatically adjust the sending order of nodes, so that the result of sending time planning is more reasonable, and the sending schedule of nodes is more compact. The transmission of multiple nodes is completed in a shorter time, which improves the efficiency of parallel communication. The present invention can automatically adjust the sending order of nodes in the optimization process, does not require a large number of searches, and reduces the complexity of operations. The present invention can be widely used in TDMA and handshake-based competitive underwater acoustic networks.

Figure 202010540228

Description

一种水声网络并行通信的发送时间规划方法A transmission time planning method for parallel communication in underwater acoustic network

技术领域technical field

本发明涉及水声通信技术领域，具体涉及一种水声网络并行通信的发送时间规划方法。The invention relates to the technical field of underwater acoustic communication, in particular to a sending time planning method for parallel communication of an underwater acoustic network.

背景技术Background technique

水声网络是水下通信研究的重要课题，在水下勘探、水下石油开采、战术监控、污染监测、海啸预警、辅助导航、生态监控等方面有着广泛的用途。然而水声信道是一个复杂的时间-空间-频率变化、有限频带、长时延、大多普勒频移、强多途干扰和高噪声的信道，是自然界处理难度最大的无线通信信道之一，加上水下节点电池更换困难、位置容易漂移、水声换能器非全向辐射等因素的影响，使得水声网络的节点具有通信速率低、能量有限等特点，水声网络的链路具有时延大且动态变化、连接不稳定、双向非对称等特点，因此组建高性能的水声通信网络是一件困难且极具挑战性的工作。Underwater acoustic network is an important subject of underwater communication research, and has a wide range of uses in underwater exploration, underwater oil exploration, tactical monitoring, pollution monitoring, tsunami warning, navigation aids, and ecological monitoring. However, the underwater acoustic channel is a complex time-space-frequency variation, limited frequency band, long time delay, Doppler frequency shift, strong multi-path interference and high noise channel. It is one of the most difficult wireless communication channels in nature. In addition to the influence of factors such as difficulty in replacing the battery of underwater nodes, easy position drift, and non-omnidirectional radiation of the underwater acoustic transducer, the nodes of the underwater acoustic network have the characteristics of low communication rate and limited energy. Due to the characteristics of large time delay, dynamic changes, unstable connection, and bidirectional asymmetry, it is a difficult and challenging task to build a high-performance underwater acoustic communication network.

由于水声信道可用的频带很窄，因此水下点对点声通信的速率受到很大限制，成为制约水声网络通信性能的主要原因之一。在点对点通信速率有限的情况下，增加节点间通信的并行度(即同时或并发通信的数量)无疑是提高网络通信性能的有效途径。在水声信道环境与水声网络应用场景下，主要存在着时域、空域和多信道三种并行通信的机会。时域上的并行通信机会是因水声网络中信息传播时延长带来的。由于水下声信号传播的速度只有1500m/s左右，因此处于不同位置的节点接收同一信号时常会存在较大的时延差异，如果能合理地利用这种时延差异，则可以实现多对节点互不干扰的并发通信。空域上的并行通信机会与水声网络的拓扑相关，网络中互在通信干扰范围外的节点可以并行地发送数据。多信道并行通信机会则是利用码分多址或频分多址技术在水下实现多条并行的通信信道。Because the available frequency band of the underwater acoustic channel is very narrow, the rate of underwater point-to-point acoustic communication is greatly limited, which becomes one of the main reasons for restricting the communication performance of the underwater acoustic network. In the case of limited point-to-point communication rate, increasing the parallelism of communication between nodes (ie the number of simultaneous or concurrent communication) is undoubtedly an effective way to improve network communication performance. In the underwater acoustic channel environment and the application scenario of the underwater acoustic network, there are mainly three parallel communication opportunities in the time domain, the spatial domain and the multi-channel. The opportunity for parallel communication in the time domain is brought about by the extension of the information propagation time in the underwater acoustic network. Since the speed of underwater acoustic signal propagation is only about 1500m/s, there is often a large delay difference between nodes at different positions when receiving the same signal. If this delay difference can be reasonably used, multiple pairs of nodes can be realized. Concurrent communication without interfering with each other. Parallel communication opportunities in the airspace are related to the topology of the underwater acoustic network, and nodes in the network outside the communication interference range can send data in parallel. The multi-channel parallel communication opportunity is to use code division multiple access or frequency division multiple access technology to realize multiple parallel communication channels underwater.

时域的并行通信可以通过控制源节点的发送时间来实现，是水下最容易实现的并行通信方式之一。中国发明专利CN201410714302.5和中国发明专利CN201610697973.4分别提供了一种适用于全静态节点水声网络和包含运动节点水声网络的多节点并行通信方法，上述方法利用水声信道信息传播时延长的特点，通过合理规划节点的发送时间来实现多组节点在同一个传输周期内无冲突地并行传输数据，可以有效地提高信道的利用效率，减少通信的平均时延。中国发明专利CN201611159045.9中提供了一种节点发送顺序优化的竞争信道水声网络并行通信方法，该方法通过优化一个传输周期中多个节点的发送顺序及发送时间，能在实现节点数据无冲突并行传输的前提下，有效地减少一个传输周期所需的时间，从而提高信道利用效率。中国发明专利201710064153.6提供了一种节点发送时间和功率联合优化的水声网络通信方法，该方法通过控制节点的发送功率，在数据传输阶段将全连通网络转化为多个互不连通的子网，每个子网独立规划节点发送时间，子网间同时传输，子网内并发传输，能有效地减少一个传输周期所需的时间，提高信道利用效率，降低能耗。Parallel communication in the time domain can be realized by controlling the sending time of the source node, which is one of the easiest parallel communication methods to realize underwater. Chinese invention patent CN201410714302.5 and Chinese invention patent CN201610697973.4 respectively provide a multi-node parallel communication method suitable for a fully static node underwater acoustic network and a multi-node parallel communication method including a moving node underwater acoustic network. Through reasonable planning of the sending time of nodes, multiple groups of nodes can transmit data in parallel without conflict in the same transmission period, which can effectively improve the utilization efficiency of the channel and reduce the average delay of communication. Chinese invention patent CN201611159045.9 provides a method for parallel communication of competitive channel underwater acoustic network with optimized node sending sequence. By optimizing the sending sequence and sending time of multiple nodes in one transmission cycle, the method can realize no conflict in node data. Under the premise of parallel transmission, the time required for one transmission cycle is effectively reduced, thereby improving channel utilization efficiency. Chinese invention patent 201710064153.6 provides an underwater acoustic network communication method with joint optimization of node transmission time and power. This method converts a fully connected network into multiple disconnected subnets in the data transmission stage by controlling the transmission power of nodes. Each subnet independently plans the node sending time, simultaneous transmission between subnets, and concurrent transmission within the subnet can effectively reduce the time required for a transmission cycle, improve channel utilization efficiency, and reduce energy consumption.

上述方法均能利用水声信道时延长的特点来实现并行通信，有效提高现有基于握手的水下竞争MAC协议的性能，但这些方法在规划源节点的发送时间时，均假设：若节点i先于节点j发送包，则节点i的包将会先于节点j的包到达目的节点i和目的节点j。这个假设对包的到达顺序带来了额外的限制，在大多数情况下并不能得到最优的发送时间规划结果。All of the above methods can utilize the characteristics of underwater acoustic channel time extension to realize parallel communication and effectively improve the performance of the existing underwater competition MAC protocol based on handshake. However, when planning the transmission time of the source node, these methods all assume: If the packet is sent before node j, the packet of node i will arrive at destination node i and destination node j before the packet of node j. This assumption imposes additional constraints on the order of arrival of packets, and in most cases does not result in optimal sending time planning results.

发明内容SUMMARY OF THE INVENTION

本发明的目的是为了解决现有技术中的上述缺陷，提供一种水声网络并行通信的发送时间规划方法。该方法首先将其他源节点已发送的包到达各自目的节点和当前目的节点的时刻映射到当前源节点的时间轴上，然后再对当前源节点发送包的时刻进行优化，可以消除现有方法对包到达顺序的约束，对节点的发送顺序进行自动调整，令发送时间规划的结果更合理，从而提高水声网络并行通信的效率。本发明可以广泛应用于水声通信网、水声传感网等场合中。The purpose of the present invention is to solve the above-mentioned defects in the prior art, and to provide a transmission time planning method for parallel communication in an underwater acoustic network. This method first maps the time when packets sent by other source nodes arrive at their respective destination nodes and the current destination node to the time axis of the current source node, and then optimizes the time when the current source node sends packets, which can eliminate the need for existing methods to Constraints on the arrival order of packets, automatically adjust the sending order of nodes, make the result of sending time planning more reasonable, and improve the efficiency of parallel communication in the underwater acoustic network. The present invention can be widely used in underwater acoustic communication network, underwater acoustic sensor network and other occasions.

本发明的目的可以通过采取如下技术方案达到：The purpose of the present invention can be achieved by adopting the following technical solutions:

一种水声网络并行通信的发送时间规划方法，该水声网络由多个节点构成，每个节点具有相同的时钟，每个节点保存一张记录所有节点间传播时延的表，其特征在于，在每个传输周期中采用以下步骤进行包的发送时间规划：A transmission time planning method for parallel communication in an underwater acoustic network, the underwater acoustic network is composed of multiple nodes, each node has the same clock, and each node saves a table recording the propagation delay between all nodes, characterized in that , in each transmission cycle, the following steps are used to plan the sending time of packets:

S1、每个源节点获取当前传输周期所有源节点及其相应的目的节点的列表，以及水声网络中所有源节点要发送包的时长；S1. Each source node obtains a list of all source nodes and their corresponding destination nodes in the current transmission cycle, as well as the duration of packets to be sent by all source nodes in the underwater acoustic network;

S2、令Si＝(si,di)表示当前传输周期的第i对源节点和相应的目的节点，1≤i≤K，其中si，di为当前传输周期的第i个源节点及相应的目的节点，K为当前传输周期中源节点的数目，初始化一个已确定发送时间的节点队列Q0，建立未确定发送时间的节点集合

Figure BDA0002538620910000031
初始化迭代变量r＝1；S2. Let S i =(s i ,d i ) represent the i-th pair of source nodes and the corresponding destination nodes in the current transmission cycle, 1≤i≤K, where s i , d i are the i-th source nodes in the current transmission cycle node and the corresponding destination node, K is the number of source nodes in the current transmission cycle, initialize a node queue Q 0 with a determined sending time, and establish a set of nodes with an undetermined sending time
Figure BDA0002538620910000031
Initialize iteration variable r=1;

S3、从

Figure BDA0002538620910000032
中选择Si，其中
Figure BDA0002538620910000033
表示第r-1次迭代时未确定发送时间的节点集合，对所有Sj＝(sj,dj)∈Qr-1，其中Qr-1表示第r-1次迭代时已确定发送时间的节点队列，Sj＝(sj,dj)表示当前传输周期的第j对源节点和相应的目的节点，1≤j≤K，其中sj，dj为当前传输周期的第j个源节点及相应的目的节点，计算S3. From
Figure BDA0002538620910000032
choose Si in , where
Figure BDA0002538620910000033
Represents the set of nodes that have not determined the sending time at the r-1th iteration, for all S j =(s j ,d j )∈Q r-1 , where Q r-1 indicates that the sending time has been determined at the r-1th iteration Time node queue, S j = (s j , d j ) represents the j-th pair of source nodes and corresponding destination nodes in the current transmission cycle, 1≤j≤K, where s j , d j are the j-th pair of the current transmission cycle Each source node and the corresponding destination node, calculate

Figure BDA0002538620910000034
Figure BDA0002538620910000034

Figure BDA0002538620910000035
Figure BDA0002538620910000035

其中

Figure BDA0002538620910000041
分别表示si到di、si到dj、sj到di、sj到dj的传播时延，
Figure BDA0002538620910000042
为第j个源节点sj发送包的时刻，
Figure BDA0002538620910000043
为源节点si时间轴上的一个时刻，且满足源节点si在
Figure BDA0002538620910000044
发送包到达目的节点dj的时刻等于源节点sj在Tsj发送包到达目的节点dj的时刻，
Figure BDA0002538620910000045
为源节点si时间轴上的一个时刻，且满足源节点si在
Figure BDA0002538620910000046
发送包到达目的节点di的时刻等于源节点sj在Tsj发送包到达目的节点di的时刻，求第r次迭代时已确定发送时间的节点队列中所有节点数据包到达目的节点的时间映射到源节点si时间轴上的集合in
Figure BDA0002538620910000041
respectively represent the propagation delays of s i to d i , s i to d j , s j to d i , and s j to d j ,
Figure BDA0002538620910000042
The moment when the packet is sent for the jth source node sj ,
Figure BDA0002538620910000043
is a moment on the time axis of the source node si , and satisfies the source node si in the
Figure BDA0002538620910000044
The time when the sent packet reaches the destination node d j is equal to the time when the source node s j sends the packet to the destination node d j at T sj ,
Figure BDA0002538620910000045
is a moment on the time axis of the source node si , and satisfies the source node si in the
Figure BDA0002538620910000046
The time when the sent packet reaches the destination node d i is equal to the time when the source node s j sends the packet to the destination node d i at T sj , find the time when all the nodes in the node queue whose sending time has been determined at the rth iteration reach the destination node. the collection mapped to the source node s i timeline

Figure BDA0002538620910000047
Figure BDA0002538620910000047

其中

Figure BDA0002538620910000048
为第j个源节点sj发送包所需的时长，C为保护时间，求
Figure BDA0002538620910000049
在(-∞,∞)的补集
Figure BDA00025386209100000410
表示第r次迭代时源节点si发送数据包不会与已确定发送时间的节点队列中所有节点数据包发生冲突的时间区间；in
Figure BDA0002538620910000048
is the time required for the jth source node s j to send a packet, and C is the protection time, find
Figure BDA0002538620910000049
Complement at (-∞,∞)
Figure BDA00025386209100000410
Indicates the time interval in which the data packet sent by the source node si will not conflict with the data packets of all nodes in the node queue whose sending time has been determined in the r-th iteration;

S4、将Si从

Figure BDA00025386209100000411
中删除，并加入Qr-1，得到Qr，选择
Figure BDA00025386209100000412
为第i个源节点si发送包的时刻，满足S4. Change Si from
Figure BDA00025386209100000411
delete from , and add Q r-1 to get Q r , choose
Figure BDA00025386209100000412
The moment when the packet is sent for the i -th source node si, satisfying

Figure BDA00025386209100000413
Figure BDA00025386209100000413

其中Sj＝(sj,dj)∈Qr-1表示当前传输周期的第j对源节点和相应的目的节点，pl∈P，P为网络中所有节点的集合，

Figure BDA00025386209100000414
分别表示源节点si、sj到pl的传播时延；where S j =(s j ,d j )∈Q r-1 represents the j-th pair of source nodes and corresponding destination nodes in the current transmission cycle, p l ∈ P, P is the set of all nodes in the network,
Figure BDA00025386209100000414
respectively represent the propagation delays from source nodes s i and s j to p l ;

S5、若r<K，r＝r+1，并重复执行步骤S3～步骤S5，否则令传输的起始时间为T0，第i个源节点si实际发送包的时间采用下式计算S5. If r<K, r=r+1, and repeat steps S3 to S5, otherwise let the start time of transmission be T 0 , and the time when the i-th source node si actually sends the packet is calculated by the following formula

Figure BDA0002538620910000051
Figure BDA0002538620910000051

传输总时长为The total transmission time is

Figure BDA0002538620910000052
Figure BDA0002538620910000052

其中1≤i≤K，1≤j≤K，pl∈P。where 1≤i≤K, 1≤j≤K, p l ∈P.

进一步地，所述的步骤S4中，求解式(4)的过程如下：Further, in the described step S4, the process of solving the formula (4) is as follows:

S4.1、初始化第r次迭代时si的候选发送时间集合

Figure BDA0002538620910000053
Figure BDA0002538620910000054
其中
Figure BDA0002538620910000055
表示
Figure BDA0002538620910000056
中第一个时间区间的终点，
Figure BDA0002538620910000057
表示
Figure BDA0002538620910000058
中的第l个区间，
Figure BDA0002538620910000059
和
Figure BDA00025386209100000510
分别表示
Figure BDA00025386209100000511
中的第l个区间的起点和终点，1≤l≤L，L为
Figure BDA00025386209100000512
包含的区间数目；S4.1. Initialize the set of candidate sending times for si at the rth iteration
Figure BDA0002538620910000053
Figure BDA0002538620910000054
in
Figure BDA0002538620910000055
express
Figure BDA0002538620910000056
the end point of the first time interval in ,
Figure BDA0002538620910000057
express
Figure BDA0002538620910000058
The lth interval in ,
Figure BDA0002538620910000059
and
Figure BDA00025386209100000510
Respectively
Figure BDA00025386209100000511
The start and end points of the lth interval in , 1≤l≤L, L is
Figure BDA00025386209100000512
the number of intervals included;

S4.2、对

Figure BDA00025386209100000513
中的区间
Figure BDA00025386209100000514
2≤l≤L，若满足
Figure BDA00025386209100000515
Figure BDA00025386209100000516
则将
Figure BDA00025386209100000517
添加到
Figure BDA00025386209100000518
中；S4.2, yes
Figure BDA00025386209100000513
interval in
Figure BDA00025386209100000514
2≤l≤L, if satisfied
Figure BDA00025386209100000515
Figure BDA00025386209100000516
will
Figure BDA00025386209100000517
add to
Figure BDA00025386209100000518
middle;

S4.3、对所有候选发送时间

Figure BDA00025386209100000519
计算代价函数S4.3. Sending time to all candidates
Figure BDA00025386209100000519
Calculate the cost function

Figure BDA00025386209100000520
Figure BDA00025386209100000520

其中Sj＝(sj,dj)∈Qr-1，pl∈P，选择令Fk最小的Tk作为Tsi。where S j =(s j ,d j )∈Q r-1 , p l ∈ P, and select T k which minimizes F k as T si .

进一步地，所述的步骤S3和步骤S4中，在所有的

Figure BDA00025386209100000521
中选择最优的Si和
Figure BDA00025386209100000522
满足Further, in the steps S3 and S4, in all
Figure BDA00025386209100000521
Choose the optimal Si and
Figure BDA00025386209100000522
Satisfy

Figure BDA00025386209100000523
Figure BDA00025386209100000523

其中Si、Sj、Sk分别为第i、第j和第k对源节点和相应的目的节点，

Figure BDA00025386209100000524
Figure BDA00025386209100000525
Figure BDA00025386209100000526
表示源节点sk到pl的传播时延，然后将Si从
Figure BDA00025386209100000527
中删除，并加入Qr-1，得到Qr。where S i , S j , and Sk are the i-th, j-th and k-th pairs of source nodes and corresponding destination nodes, respectively,
Figure BDA00025386209100000524
Figure BDA00025386209100000525
Figure BDA00025386209100000526
represents the propagation delay from the source node sk to p l , and then converts S i from
Figure BDA00025386209100000527
delete and add Q r-1 to obtain Q r .

进一步地，若某节点对其他节点进行广播，则Si＝(si,Vi)，其中Vi为si所有目的节点的集合。Further, if a node broadcasts to other nodes, then S i =(s i ,V i ), where V i is the set of all destination nodes of s i .

进一步地，所述的步骤S3中，从

Figure BDA0002538620910000061
中选择Si，对所有Sj＝(sj,Vj)∈Qr-1，计算Further, in the step S3, from
Figure BDA0002538620910000061
Select Si from among , and for all S j =(s j ,V j ) ∈Q r-1 , calculate

Figure BDA0002538620910000062
Figure BDA0002538620910000062

Figure BDA0002538620910000063
Figure BDA0002538620910000063

其中din∈Vi为Vi中的第n个节点，djm∈Vj为Vj中的第m个节点，

Figure BDA0002538620910000064
Figure BDA0002538620910000065
分别表示si到din、si到djm、sj到din、sj到djm的传播时延，Tsj为第j个源节点sj发送包的时刻，
Figure BDA0002538620910000066
为第i个源节点si时间轴上的一个时刻，且满足第i个源节点si在
Figure BDA0002538620910000067
发送包到达目的节点djm的时刻等于源节点sj在
Figure BDA0002538620910000068
发送包到达目的节点djm的时刻，
Figure BDA0002538620910000069
为第i个源节点si时间轴上的一个时刻，且满足第i个源节点si在
Figure BDA00025386209100000610
发送包到达目的节点din的时刻等于源节点sj在
Figure BDA00025386209100000611
发送包到达目的节点din的时刻，并求集合where d in ∈ V i is the nth node in V i , d jm ∈ V j is the mth node in V j ,
Figure BDA0002538620910000064
Figure BDA0002538620910000065
respectively represent the propagation delays of s i to d in , s i to d jm , s j to d in , and s j to d jm , T sj is the moment when the jth source node s j sends a packet,
Figure BDA0002538620910000066
is a moment on the time axis of the i-th source node s i , and satisfies that the i-th source node s i is in
Figure BDA0002538620910000067
The time when the sent packet reaches the destination node d jm is equal to the time when the source node s j is at
Figure BDA0002538620910000068
When the sending packet reaches the destination node djm ,
Figure BDA0002538620910000069
is a moment on the time axis of the i-th source node s i , and satisfies that the i-th source node s i is in
Figure BDA00025386209100000610
The time when the sending packet reaches the destination node d in is equal to the time when the source node s j is at
Figure BDA00025386209100000611
The moment when the sending packet reaches the destination node d in , and find the set

Figure BDA00025386209100000612
Figure BDA00025386209100000612

其中

Figure BDA00025386209100000613
为sj发送包所需的时长，C为保护时间，求
Figure BDA00025386209100000614
在(-∞,∞)的补集
Figure BDA00025386209100000615
in
Figure BDA00025386209100000613
is the time required for sj to send a packet, C is the protection time, find
Figure BDA00025386209100000614
Complement at (-∞,∞)
Figure BDA00025386209100000615

本发明相对于现有技术具有如下的优点及效果：Compared with the prior art, the present invention has the following advantages and effects:

1、本发明消除了现有方法对包到达目的节点顺序的约束，可以得到更好的优化效果，令节点的发送时间表更紧凑，在更短时间内完成多个节点的传输，提高了并行通信的效率。1. The present invention eliminates the existing method's constraints on the order of packets arriving at the destination node, and can obtain better optimization effects, make the node's sending schedule more compact, complete the transmission of multiple nodes in a shorter time, and improve the parallelism. Efficiency of communication.

2、本发明可以在优化过程中自动调整节点的发送顺序，无需大量搜索，减少了运算的复杂度。2. The present invention can automatically adjust the sending order of nodes in the optimization process, without requiring a large number of searches and reducing the complexity of operations.

3、本发明适用范围广，可以广泛用于TDMA和基于握手的竞争式水声网络中。3. The present invention has a wide range of applications and can be widely used in TDMA and competitive underwater acoustic networks based on handshakes.

附图说明Description of drawings

图1是本发明提供的水声网络并行通信的发送时间规划方法流程图。FIG. 1 is a flow chart of a method for planning a transmission time of parallel communication in an underwater acoustic network provided by the present invention.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

实施例Example

本发明实施例1～3均为一个具有6个节点的水声通信网络，节点按1～6进行编号，各节点均位于水下100米的平面，以节点的水平位置和深度为X、Y、Z轴建立坐标系，以米为单位，节点1～6的坐标分别为(-400，0，100)、(-400，100，100)、(-200，200，100)、(200，200，100)、(400，100，100)、(400，0，100)。每个节点为静态节点且均能监听到其他节点的信号，每个节点配备1个水声调制解调器，上述水声调制解调器的通信方式为全方向、半双工，数据传输速率为1kbps。所有节点具有相同的时钟，每个节点保存一张记录所有节点间传播时延的表，上述传播时延通过计算节点间的距离后除以声速得到，或者通过测量信令中的时间标签与其接收时间之差得到。例如，当声速为1500m/s时，按节点间的距离可计算得到上述节点间的两两传播时延如下表1(单位：秒)：Embodiments 1 to 3 of the present invention are all an underwater acoustic communication network with 6 nodes, the nodes are numbered according to 1 to 6, and each node is located on a plane 100 meters underwater, and the horizontal position and depth of the nodes are X, Y , Z axis to establish a coordinate system, in meters, the coordinates of nodes 1 to 6 are (-400, 0, 100), (-400, 100, 100), (-200, 200, 100), (200, 200, 100), (400, 100, 100), (400, 0, 100). Each node is a static node and can monitor the signals of other nodes. Each node is equipped with an underwater acoustic modem. The communication mode of the underwater acoustic modem is omnidirectional, half-duplex, and the data transmission rate is 1kbps. All nodes have the same clock, and each node saves a table that records the propagation delay between all nodes. The above propagation delay is obtained by calculating the distance between nodes and dividing by the speed of sound, or by measuring the time label in the signaling and its reception. The difference in time is obtained. For example, when the speed of sound is 1500m/s, according to the distance between the nodes, the pairwise propagation delays between the above nodes can be calculated as shown in Table 1 (unit: seconds):

表1.节点间的两两传播时延表Table 1. Pairwise propagation delay table between nodes

Figure BDA0002538620910000071
Figure BDA0002538620910000071

Figure BDA0002538620910000081
Figure BDA0002538620910000081

本发明实施例1和实施例2中，网络采用竞争式的MAC协议进行接入控制，所有节点采用握手的方式来传输数据，将一个传输周期分为RTS、CTS、DATA和ACK四个阶段。In Embodiment 1 and Embodiment 2 of the present invention, the network uses a competitive MAC protocol for access control, all nodes transmit data by handshake, and a transmission cycle is divided into four stages: RTS, CTS, DATA and ACK.

RTS阶段：当信道空闲且有至少1个节点需要发送数据时，网络进入RTS阶段，需要发起通信的一个或多个源节点在第一个RTS信令发送后的预定时间内，随机选择时间广播RTS信令。经过预定时间后，网络进入CTS阶段。上述RTS信令中包含表示该信令发送时刻的时间标签，所有节点在本传输周期中以第一个RTS信令的时间标签为基准进行计时。RTS phase: When the channel is idle and at least one node needs to send data, the network enters the RTS phase. One or more source nodes that need to initiate communication will randomly select a time to broadcast within a predetermined time after the first RTS signaling is sent. RTS signaling. After a predetermined time, the network enters the CTS stage. The above-mentioned RTS signaling includes a time stamp indicating the time when the signaling is sent, and all nodes use the time stamp of the first RTS signaling as a reference for timing in this transmission cycle.

CTS阶段：在CTS阶段中，接收到RTS信令且同意通信的节点在预定时间内的随机时刻广播RTS信令。经过预定时间后，网络进入DATA阶段。CTS phase: In the CTS phase, nodes that receive RTS signaling and agree to communicate broadcast RTS signaling at random times within a predetermined time. After a predetermined time, the network enters the DATA stage.

DATA阶段：每个源节点采用本发明提供的发送时间规划方法，计算本节点在本传输周期中发送数据包的时刻，计时至该时刻后，向相应目的节点发送数据。每个源节点采用本发明提供的发送时间规划方法，计算本传输周期中数据包传输所需的总时长，当计时至上述总时长后，进入ACK阶段。DATA stage: each source node uses the sending time planning method provided by the present invention to calculate the time at which the node sends data packets in the current transmission cycle, and sends data to the corresponding destination node after timing to this time. Each source node uses the sending time planning method provided by the present invention to calculate the total duration required for data packet transmission in the current transmission cycle, and enters the ACK phase after timing to the above-mentioned total duration.

ACK阶段：每个目的节点采用本发明提供的发送时间规划方法，计算本节点在本传输周期中发送ACK或NACK信令的时刻，计时至该时刻后，接收数据正确的目的节点向相应的源节点发送ACK信令，接收数据有错误的目的节点向相应的源节点发送NACK信令。每个源节点采用本发明提供的发送时间规划方法，计算本传输周期中ACK或NACK信令传输所需的总时长，当计时至上述总时长后，本传输周期结束。ACK stage: each destination node uses the sending time planning method provided by the present invention to calculate the time at which the node sends ACK or NACK signaling in this transmission cycle. The node sends ACK signaling, and the destination node that receives data with errors sends NACK signaling to the corresponding source node. Each source node uses the sending time planning method provided by the present invention to calculate the total time required for ACK or NACK signaling transmission in the current transmission cycle, and when the above total time is counted, the current transmission cycle ends.

实施例1中，采用本发明提供的并行通信发送时间规划方法计算源节点发送数据包的时刻，可以在一个传输周期中互不干扰地并发传送多个数据包，能有效提高水声网络的通信能力，具体采用以下步骤进行，其流程如图1所示：In Embodiment 1, using the parallel communication sending time planning method provided by the present invention to calculate the moment when the source node sends data packets, multiple data packets can be concurrently transmitted without interfering with each other in one transmission cycle, which can effectively improve the communication of the underwater acoustic network. capacity, the specific steps are as follows, and the process is shown in Figure 1:

步骤S1、每个源节点获取当前传输周期所有源节点及其相应的目的节点的列表，以及水声网络中所有源节点要发送包的时长。Step S1, each source node obtains a list of all source nodes and their corresponding destination nodes in the current transmission period, as well as the duration of packets to be sent by all source nodes in the underwater acoustic network.

步骤S2、初始化已确定发送时间的节点队列和未确定发送时间的节点集合。令Si＝(si,di)表示当前传输周期的第i对源节点和相应的目的节点，1≤i≤K，其中si，di为当前传输周期的第i个源节点及相应的目的节点，K为当前传输周期中源节点的数目，初始化一个已确定发送时间的节点队列Q0，建立未确定发送时间的节点集合

Figure BDA0002538620910000091
初始化迭代变量r＝1。Step S2: Initialize a node queue whose sending time has been determined and a node set whose sending time has not been determined. Let S i =(s i ,d i ) represent the i-th pair of source nodes and the corresponding destination nodes in the current transmission cycle, 1≤i≤K, where s i , d i are the i-th source node and the corresponding destination node in the current transmission cycle The corresponding destination node, K is the number of source nodes in the current transmission cycle, initializes a node queue Q 0 with a determined sending time, and establishes a set of nodes with an undetermined sending time
Figure BDA0002538620910000091
Initialize the iteration variable r=1.

步骤S3、在未确定发送时间的节点集合中选择一个源节点，并计算它发送数据包不会与已确定发送时间的节点队列中的所有节点数据包发生冲突的时间区间。从

Figure BDA0002538620910000092
中选择Si，其中
Figure BDA0002538620910000093
表示第r-1次迭代时未确定发送时间的节点集合，对所有Sj＝(sj,dj)∈Qr-1，其中Qr-1表示第r-1次迭代时已确定发送时间的节点队列，Sj＝(sj,dj)表示当前传输周期的第j对源节点和相应的目的节点，1≤j≤K，其中sj，dj为当前传输周期的第j个源节点及相应的目的节点，计算Step S3: Select a source node from the set of nodes whose sending time has not been determined, and calculate the time interval during which the data packets sent by it will not collide with the data packets of all nodes in the node queue whose sending time has been determined. from
Figure BDA0002538620910000092
choose Si in , where
Figure BDA0002538620910000093
Represents the set of nodes that have not determined the sending time at the r-1th iteration, for all S j =(s j ,d j )∈Q r-1 , where Q r-1 indicates that the sending time has been determined at the r-1th iteration Time node queue, S j = (s j , d j ) represents the j-th pair of source nodes and corresponding destination nodes in the current transmission cycle, 1≤j≤K, where s j , d j are the j-th pair of the current transmission cycle Each source node and the corresponding destination node, calculate

Figure BDA0002538620910000101
Figure BDA0002538620910000101

Figure BDA0002538620910000102
Figure BDA0002538620910000102

其中

Figure BDA0002538620910000103
分别表示si到di、si到dj、sj到di、sj到dj的传播时延，
Figure BDA0002538620910000104
为第j个源节点sj发送包的时刻，
Figure BDA0002538620910000105
为源节点si时间轴上的一个时刻，且满足源节点si在
Figure BDA0002538620910000106
发送包到达目的节点dj的时刻等于源节点sj在
Figure BDA0002538620910000107
发送包到达目的节点dj的时刻，
Figure BDA0002538620910000108
为源节点si时间轴上的一个时刻，且满足源节点si在
Figure BDA0002538620910000109
发送包到达目的节点di的时刻等于源节点sj在
Figure BDA00025386209100001010
发送包到达目的节点di的时刻，求第r次迭代时已确定发送时间的节点队列中所有节点数据包到达目的节点的时间映射到源节点si时间轴上的集合in
Figure BDA0002538620910000103
respectively represent the propagation delays of s i to d i , s i to d j , s j to d i , and s j to d j ,
Figure BDA0002538620910000104
The moment when the packet is sent for the jth source node sj ,
Figure BDA0002538620910000105
is a moment on the time axis of the source node si , and satisfies the source node si in the
Figure BDA0002538620910000106
The time when the sent packet reaches the destination node d j is equal to the time when the source node s j is at
Figure BDA0002538620910000107
When the sending packet reaches the destination node d j ,
Figure BDA0002538620910000108
is a moment on the time axis of the source node si , and satisfies the source node si in the
Figure BDA0002538620910000109
The time when the sending packet reaches the destination node d i is equal to the time when the source node s j is at
Figure BDA00025386209100001010
When the sending packet arrives at the destination node d i , find the set that the time when the data packets of all nodes in the node queue whose sending time has been determined at the rth iteration arrives at the destination node is mapped to the time axis of the source node s i

Figure BDA00025386209100001011
Figure BDA00025386209100001011

其中

Figure BDA00025386209100001012
为第j个源节点sj发送包所需的时长，C为保护时间，求
Figure BDA00025386209100001013
在(-∞,∞)的补集
Figure BDA00025386209100001014
表示第r次迭代时源节点si发送数据包不会与已确定发送时间的节点队列中所有节点数据包发生冲突的时间区间。in
Figure BDA00025386209100001012
is the time required for the jth source node s j to send a packet, and C is the protection time, find
Figure BDA00025386209100001013
Complement at (-∞,∞)
Figure BDA00025386209100001014
Indicates the time interval in which the data packets sent by the source node si at the rth iteration will not collide with the data packets of all nodes in the node queue whose sending time has been determined.

步骤S4、选择上述时间区间中令当前传输总时长最短的发送时间，并将该源节点从在未确定发送时间的节点集合中删除，添加到已确定发送时间的节点队列中。将Si从

Figure BDA00025386209100001015
中删除，并加入Qr-1，得到Qr，选择
Figure BDA00025386209100001016
Figure BDA00025386209100001017
为第i个源节点si发送包的时刻，满足Step S4: Select the sending time in the above-mentioned time interval with the shortest total current transmission duration, delete the source node from the node set whose sending time has not been determined, and add it to the node queue whose sending time has been determined. change S i from
Figure BDA00025386209100001015
delete from , and add Q r-1 to get Q r , choose
Figure BDA00025386209100001016
Figure BDA00025386209100001017
The moment when the packet is sent for the i -th source node si, satisfying

Figure BDA00025386209100001018
Figure BDA00025386209100001018

其中Sj＝(sj,dj)∈Qr-1表示当前传输周期的第j对源节点和相应的目的节点，pl∈P，P为网络中所有节点的集合，

Figure BDA0002538620910000111
分别表示源节点si、sj到pl的传播时延。where S j =(s j ,d j )∈Q r-1 represents the j-th pair of source nodes and corresponding destination nodes in the current transmission cycle, p l ∈ P, P is the set of all nodes in the network,
Figure BDA0002538620910000111
represent the propagation delays from source nodes s i and s j to p l , respectively.

其中，式(4)采用以下方法求解：Among them, formula (4) is solved by the following method:

步骤S4.1：初始化第r次迭代时si的候选发送时间集合

Figure BDA0002538620910000112
Figure BDA0002538620910000113
其中
Figure BDA0002538620910000114
表示
Figure BDA0002538620910000115
中第一个时间区间的终点，
Figure BDA0002538620910000116
表示
Figure BDA0002538620910000117
中的第l个区间，
Figure BDA0002538620910000118
和
Figure BDA0002538620910000119
分别表示
Figure BDA00025386209100001110
中的第l个区间的起点和终点，1≤l≤L，L为
Figure BDA00025386209100001111
包含的区间数目。Step S4.1: Initialize the set of candidate sending times for si at the rth iteration
Figure BDA0002538620910000112
Figure BDA0002538620910000113
in
Figure BDA0002538620910000114
express
Figure BDA0002538620910000115
the end point of the first time interval in ,
Figure BDA0002538620910000116
express
Figure BDA0002538620910000117
The lth interval in ,
Figure BDA0002538620910000118
and
Figure BDA0002538620910000119
Respectively
Figure BDA00025386209100001110
The start and end points of the lth interval in , 1≤l≤L, L is
Figure BDA00025386209100001111
The number of intervals to include.

步骤S4.2：对

Figure BDA00025386209100001112
中的区间
Figure BDA00025386209100001113
2≤l≤L，若满足
Figure BDA00025386209100001114
Figure BDA00025386209100001115
则将
Figure BDA00025386209100001116
添加到
Figure BDA00025386209100001117
中。Step S4.2: Right
Figure BDA00025386209100001112
interval in
Figure BDA00025386209100001113
2≤l≤L, if satisfied
Figure BDA00025386209100001114
Figure BDA00025386209100001115
will
Figure BDA00025386209100001116
add to
Figure BDA00025386209100001117
middle.

步骤S4.3：对所有候选发送时间

Figure BDA00025386209100001118
计算代价函数Step S4.3: Send time for all candidates
Figure BDA00025386209100001118
Calculate the cost function

Figure BDA00025386209100001119
Figure BDA00025386209100001119

其中Sj＝(sj,dj)∈Qr-1，pl∈P，选择令Fk最小的Tk作为Tsi。where S j =(s j ,d j )∈Q r-1 , p l ∈ P, and select T k which minimizes F k as T si .

步骤S5、若r<K，r＝r+1，并重复执行步骤S3～步骤S5，否则令传输的起始时间为T0，第i个源节点si实际发送包的时间采用下式计算Step S5, if r<K, r=r+1, and repeat steps S3 to S5, otherwise let the start time of transmission be T 0 , and the time when the i-th source node si actually sends the packet is calculated by the following formula:

Figure BDA00025386209100001120
Figure BDA00025386209100001120

传输总时长为The total transmission time is

Figure BDA00025386209100001121
Figure BDA00025386209100001121

其中1≤i≤K，1≤j≤K，pl∈P。where 1≤i≤K, 1≤j≤K, p l ∈P.

以节点1、3、5分别需要向节点2、4、6发送数据包为例，在检测到信道空闲时，节点1、3、5分别广播RTS信令，节点2、4、6接收相应的RTS信令后，分别向节点1、3、5广播回复CTS信令，每个节点侦听并记录下当前传输周期所有源节点和目的节点列表(1，2)、(3，4)、(5，6)。上述实施例中，数据包的长度规定为100Byte，即数据包发送的时长为0.8秒，保护时间设置为0.01秒。Take nodes 1, 3, and 5 as an example to send data packets to nodes 2, 4, and 6 respectively. When detecting that the channel is idle, nodes 1, 3, and 5 broadcast RTS signaling respectively, and nodes 2, 4, and 6 receive the corresponding After RTS signaling, broadcast reply CTS signaling to nodes 1, 3, and 5 respectively, each node listens and records all source and destination node lists (1, 2), (3, 4), ( 5, 6). In the above-mentioned embodiment, the length of the data packet is specified as 100 Bytes, that is, the transmission time of the data packet is 0.8 seconds, and the protection time is set to 0.01 seconds.

令S1＝(1,2)，S2＝(3,4)，S3＝(5,6)，K＝3，初始化空队列Q0，建立集合

Figure BDA0002538620910000121
初始化迭代变量r＝1。Let S 1 =(1,2), S 2 =(3,4), S 3 =(5,6), K=3, initialize the empty queue Q 0 , establish the set
Figure BDA0002538620910000121
Initialize the iteration variable r=1.

按S1、S2、S3的顺序从

Figure BDA0002538620910000122
中选择源节点，r＝1时，由于
Figure BDA0002538620910000123
因此
Figure BDA0002538620910000124
选择
Figure BDA0002538620910000125
则区间
Figure BDA0002538620910000126
Figure BDA0002538620910000127
将S1从
Figure BDA0002538620910000128
中删除，并加入Q0，得到Q1＝{S1}。In the order of S 1 , S 2 , S 3 from
Figure BDA0002538620910000122
Select the source node in , when r=1, due to
Figure BDA0002538620910000123
therefore
Figure BDA0002538620910000124
choose
Figure BDA0002538620910000125
then the interval
Figure BDA0002538620910000126
Figure BDA0002538620910000127
Change S1 from
Figure BDA0002538620910000128
delete and add Q 0 to obtain Q 1 ={S 1 }.

r＝2时，选择S2，根据式(1)和式(2)，

Figure BDA0002538620910000129
根据式(3)得到并集When r=2, select S 2 , according to formula (1) and formula (2),
Figure BDA0002538620910000129
According to formula (3), the union can be obtained

Figure BDA00025386209100001210
Figure BDA00025386209100001210

Figure BDA00025386209100001211
Figure BDA00025386209100001211

Figure BDA00025386209100001212
中有两个区间，因此L＝2。初始化集合
Figure BDA00025386209100001213
由于区间[0.965,∞)的长度大于
Figure BDA00025386209100001214
因此将0.965添加到
Figure BDA00025386209100001215
中，得到
Figure BDA00025386209100001216
根据式(7)，T1＝-0.892，F1＝2.230，T2＝0.965，F2＝2.187，因此选择
Figure BDA00025386209100001217
将S2从
Figure BDA00025386209100001218
中删除，并加入Q1，得到Q2＝{S1,S2}。
Figure BDA00025386209100001212
There are two intervals, so L=2. Initialize the collection
Figure BDA00025386209100001213
Since the length of the interval [0.965,∞) is greater than
Figure BDA00025386209100001214
So add 0.965 to
Figure BDA00025386209100001215
in, get
Figure BDA00025386209100001216
According to formula (7), T 1 =-0.892, F 1 =2.230, T 2 =0.965, F 2 =2.187, so choose
Figure BDA00025386209100001217
Change S2 from
Figure BDA00025386209100001218
delete and add Q 1 to obtain Q 2 ={S 1 ,S 2 }.

r＝3时，选择S3，根据式(1)和式(2)，

Figure BDA00025386209100001219
Figure BDA00025386209100001220
根据式(3)得到并集When r=3, select S 3 , according to formula (1) and formula (2),
Figure BDA00025386209100001219
Figure BDA00025386209100001220
According to formula (3), the union can be obtained

Figure BDA00025386209100001221
Figure BDA00025386209100001221

Figure BDA00025386209100001222
Figure BDA00025386209100001222

Figure BDA00025386209100001223
中有三个区间，因此L＝3。初始化集合
Figure BDA00025386209100001224
由于区间[0.343,0.467)的长度小于
Figure BDA00025386209100001225
区间[2.130,∞)的长度大于
Figure BDA00025386209100001226
因此将2.130添加到
Figure BDA00025386209100001227
中，得到
Figure BDA00025386209100001228
根据式(7)，T1＝-1.277，F1＝3.463，T2＝2.130，F2＝3.467，因此选择
Figure BDA0002538620910000131
Figure BDA0002538620910000132
将S3从
Figure BDA0002538620910000133
中删除，并加入Q2，得到Q3＝{S1,S2,S3}。
Figure BDA00025386209100001223
There are three intervals in , so L=3. Initialize the collection
Figure BDA00025386209100001224
Since the length of the interval [0.343, 0.467) is less than
Figure BDA00025386209100001225
The length of the interval [2.130,∞) is greater than
Figure BDA00025386209100001226
So add 2.130 to
Figure BDA00025386209100001227
in, get
Figure BDA00025386209100001228
According to formula (7), T 1 =-1.277, F 1 =3.463, T 2 =2.130, F 2 =3.467, so choose
Figure BDA0002538620910000131
Figure BDA0002538620910000132
Change the S3 from
Figure BDA0002538620910000133
, and add Q 2 to obtain Q 3 ={S 1 , S 2 , S 3 }.

由于此时r＝K，因此不再迭代，令当前DATA阶段的起始时间为T0＝0，由于

Figure BDA0002538620910000134
最小，则根据式(5)，节点s1、s2、s3的实际发送时间为
Figure BDA0002538620910000135
Since r=K at this time, it is no longer iterated, and the starting time of the current DATA stage is T 0 =0, because
Figure BDA0002538620910000134
is the smallest, then according to equation (5), the actual sending time of nodes s 1 , s 2 , and s 3 is
Figure BDA0002538620910000135

Figure BDA0002538620910000136
Figure BDA0002538620910000136

根据式(6)，从第一个源节点发送数据到网络中最后一个节点接收完毕的总传输时长为Ttotal＝3.463秒。当所有节点计时到3.463秒时，DATA阶段结束。According to formula (6), the total transmission time from the first source node sending data to the last node in the network receiving the data is T total =3.463 seconds. The DATA phase ends when all nodes have timed out to 3.463 seconds.

同理可以计算节点2，4，6发送ACK包的时间。Similarly, the time for nodes 2, 4, and 6 to send ACK packets can be calculated.

本发明实施例2中，对每一步迭代中Si的选择顺序和发送时间同时进行优化，具体方法是：In Embodiment 2 of the present invention, the selection sequence and sending time of Si in each step of iteration are simultaneously optimized, and the specific method is:

步骤S3和步骤S4中，在所有的

Figure BDA0002538620910000137
中选择最优的Si和
Figure BDA0002538620910000138
满足In steps S3 and S4, in all
Figure BDA0002538620910000137
Choose the optimal Si and
Figure BDA0002538620910000138
Satisfy

Figure BDA0002538620910000139
Figure BDA0002538620910000139

其中Si、Sj、Sk分别为第i、第j和第k对源节点和相应的目的节点，

Figure BDA00025386209100001310
分别表示源节点sk到pl的传播时延，然后将Si从
Figure BDA00025386209100001311
中删除，并加入Qr-1，得到Qr。where S i , S j , and Sk are the i-th, j-th and k-th pairs of source nodes and corresponding destination nodes, respectively,
Figure BDA00025386209100001310
respectively represent the propagation delay from the source node sk to p l , and then change S i from
Figure BDA00025386209100001311
delete and add Q r-1 to obtain Q r .

以节点1、3、5分别需要向节点2、4、6发送数据为例，根据式(1)～(3)和式(8)，当r＝1时，

Figure BDA00025386209100001312
分别计算当此时选择S1，S2或S3时，最优的发送时间
Figure BDA00025386209100001313
和
Figure BDA00025386209100001314
以及相应的Fk，选择令Fk最小的节点及其发送时间为最优解，可得最优Si为S2＝(3,4)，
Figure BDA00025386209100001315
同理，当r＝2时，最优Si为S3＝(5,6)，
Figure BDA00025386209100001316
当r＝3时，最优Si为S1＝(1,2)，
Figure BDA0002538620910000141
令当前数据传输的起始时间为T0＝0，则根据式(5)，节点s1、s2、s3的实际发送时间为
Figure BDA0002538620910000142
总传输时长为Ttotal＝2.922秒，小于实施例1中未经顺序优化的总传输时长。Taking nodes 1, 3, and 5 respectively need to send data to nodes 2, 4, and 6 as an example, according to equations (1) to (3) and (8), when r=1,
Figure BDA00025386209100001312
Calculate the optimal sending time when S 1 , S 2 or S 3 is selected at this time
Figure BDA00025386209100001313
and
Figure BDA00025386209100001314
and the corresponding F k , select the node with the smallest F k and its sending time as the optimal solution, and the optimal Si can be obtained as S 2 =(3,4),
Figure BDA00025386209100001315
Similarly, when r=2, the optimal Si is S 3 =(5,6),
Figure BDA00025386209100001316
When r=3, the optimal Si is S 1 =(1,2),
Figure BDA0002538620910000141
Let the starting time of current data transmission be T 0 =0, then according to formula (5), the actual sending time of nodes s 1 , s 2 , and s 3 is
Figure BDA0002538620910000142
The total transmission duration is T total =2.922 seconds, which is less than the total transmission duration without sequence optimization in Embodiment 1.

本发明实施例3中，所有节点采用时分复用(TDMA)的方式来传输数据，数据包长度为100字节，即每个数据包的发送时长为0.8秒。每个节点发送数据的时隙预先计算好，在网络启动后，每个节点在属于自己的时隙中发送数据。传统的TDMA中，节点的时隙是串行安排的，即某一时刻只有一个节点发送数据，下一节点需等待当前节点的数据传送至所有节点后才能开始，显然会造成极大的浪费。本发明提供的水声网络并行通信的发送时间规划方法，可以规划并发的节点时隙，同时保证数据包到达任意节点时不与其他节点的数据包发生冲突，具体采用以下步骤来规划节点的时隙，即数据包的发送时间：In Embodiment 3 of the present invention, all nodes use time division multiplexing (TDMA) to transmit data, and the length of the data packet is 100 bytes, that is, the transmission duration of each data packet is 0.8 seconds. The time slot in which each node sends data is pre-calculated. After the network is started, each node sends data in its own time slot. In traditional TDMA, the time slots of nodes are arranged serially, that is, only one node sends data at a certain time, and the next node needs to wait for the data of the current node to be transmitted to all nodes before starting, which obviously will cause great waste. The transmission time planning method for parallel communication in an underwater acoustic network provided by the present invention can plan concurrent node time slots and at the same time ensure that data packets do not conflict with data packets of other nodes when they arrive at any node. Slot, that is, the sending time of the data packet:

步骤S1、每个源节点获取当前传输周期所有源节点及其相应的目的节点的列表，以及水声网络中所有源节点要发送包的时长。Step S1, each source node obtains a list of all source nodes and their corresponding destination nodes in the current transmission period, as well as the duration of packets to be sent by all source nodes in the underwater acoustic network.

上述实施例3中，每个TDMA周期中的源节点均为网络中所有的节点，由于在TDMA中，每个源节点发送数据相当于对所有节点进行广播，因此每个源节点对应的目的节点为网络中所有节点的集合。数据包长度为100Byte，发送一个数据包的时长为0.8秒。In the above-mentioned embodiment 3, the source nodes in each TDMA cycle are all nodes in the network. Since in TDMA, the data sent by each source node is equivalent to broadcasting to all nodes, so the destination node corresponding to each source node. is the set of all nodes in the network. The length of the data packet is 100Byte, and the duration of sending a data packet is 0.8 seconds.

步骤S2、初始化已确定发送时间的节点队列和未确定发送时间的节点集合。令Si＝(si,Vi)，1≤i≤K，其中si当前传输周期的第i个源节点，Vi为si所有目的节点的集合，K为当前传输周期源节点的数目。初始化一个已确定发送时间的节点队列Q0，建立未确定发送时间的节点集合

Figure BDA0002538620910000143
Figure BDA0002538620910000151
初始化迭代变量r＝1。Step S2: Initialize a node queue whose sending time has been determined and a node set whose sending time has not been determined. Let S i =(s i ,V i ), 1≤i≤K, where s i is the i-th source node of the current transmission cycle, V i is the set of all destination nodes of s i , and K is the source node of the current transmission cycle. number. Initialize a node queue Q 0 whose sending time has been determined, and establish a set of nodes whose sending time has not been determined
Figure BDA0002538620910000143
Figure BDA0002538620910000151
Initialize the iteration variable r=1.

上述实施例3中，S1＝(1,V)，S2＝(2,V)，S3＝(3,V)，S4＝(4,V)，S5＝(5,V)，S6＝(6,V)，其中V＝(1,2,3,4,5,6)。In the above embodiment 3, S 1 =(1,V), S 2 =(2,V), S 3 =(3,V), S 4 =(4,V), S 5 =(5,V) , S 6 =(6,V), where V=(1,2,3,4,5,6).

步骤S3、在未确定发送时间的节点集合中选择一个源节点，并计算它发送数据包不会与已确定发送时间的节点队列中的所有节点数据包发生冲突的时间区间。从

Figure BDA0002538620910000152
中选择Si，对所有Sj＝(sj,Vj)∈Qr-1，计算Step S3: Select a source node from the set of nodes whose sending time has not been determined, and calculate the time interval during which the data packets sent by it will not collide with the data packets of all nodes in the node queue whose sending time has been determined. from
Figure BDA0002538620910000152
Select Si from among , and for all S j =(s j ,V j ) ∈Q r-1 , calculate

Figure BDA0002538620910000153
Figure BDA0002538620910000153

Figure BDA0002538620910000154
Figure BDA0002538620910000154

其中din∈Vi为Vi中的第n个节点，djm∈Vj为Vj中的第m个节点，

Figure BDA0002538620910000155
Figure BDA0002538620910000156
分别表示si到din、si到djm、sj到din、sj到djm的传播时延，
Figure BDA0002538620910000157
为第j个源节点sj发送包的时刻，
Figure BDA0002538620910000158
为第i个源节点si时间轴上的一个时刻，且满足第i个源节点si在
Figure BDA0002538620910000159
发送包到达目的节点djm的时刻等于源节点sj在
Figure BDA00025386209100001510
发送包到达目的节点djm的时刻，
Figure BDA00025386209100001511
为第i个源节点si时间轴上的一个时刻，且满足第i个源节点si在
Figure BDA00025386209100001512
发送包到达目的节点din的时刻等于源节点sj在
Figure BDA00025386209100001513
发送包到达目的节点din的where d in ∈ V i is the nth node in V i , d jm ∈ V j is the mth node in V j ,
Figure BDA0002538620910000155
Figure BDA0002538620910000156
respectively represent the propagation delays of s i to d in , s i to d jm , s j to d in , and s j to d jm ,
Figure BDA0002538620910000157
The moment when the packet is sent for the jth source node sj ,
Figure BDA0002538620910000158
is a moment on the time axis of the i-th source node s i , and satisfies that the i-th source node s i is in
Figure BDA0002538620910000159
The time when the sent packet reaches the destination node d jm is equal to the time when the source node s j is at
Figure BDA00025386209100001510
When the sending packet reaches the destination node djm ,
Figure BDA00025386209100001511
is a moment on the time axis of the i-th source node s i , and satisfies that the i-th source node s i is in
Figure BDA00025386209100001512
The time when the sending packet reaches the destination node d in is equal to the time when the source node s j is at
Figure BDA00025386209100001513
The sending packet reaches the destination node d in

时刻，并求集合time, and set

Figure BDA00025386209100001514
Figure BDA00025386209100001514

其中

Figure BDA00025386209100001515
为sj发送包所需的时长，C为保护时间，求
Figure BDA00025386209100001516
在(-∞,∞)的补集
Figure BDA00025386209100001517
in
Figure BDA00025386209100001515
is the time required for sj to send a packet, C is the protection time, find
Figure BDA00025386209100001516
Complement at (-∞,∞)
Figure BDA00025386209100001517

以已知r＝1时，已确定Q1＝{S3}，

Figure BDA00025386209100001518
Ts3＝0.000，当r＝2时，从
Figure BDA00025386209100001519
中选择S2为例，由于实施例3中，s3和s2的目的节点相同，因此式(9)和(10)相同，只需计算
Figure BDA0002538620910000161
Figure BDA0002538620910000162
根据式(3)得到并集
Figure BDA0002538620910000163
此时
Figure BDA0002538620910000164
Given that r=1, it has been determined that Q 1 ={S 3 },
Figure BDA00025386209100001518
T s3 =0.000, when r=2, from
Figure BDA00025386209100001519
Select S 2 as an example in Example 3, since in Example 3, the destination nodes of s 3 and s 2 are the same, so formulas (9) and (10) are the same, and only need to calculate
Figure BDA0002538620910000161
Figure BDA0002538620910000162
According to formula (3), the union can be obtained
Figure BDA0002538620910000163
at this time
Figure BDA0002538620910000164

步骤S4、选择上述时间区间中令当前传输总时长最短的源节点和发送时间，并将该源节点从在未确定发送时间的节点集合中删除，添加到已确定发送时间的节点队列中。在所有的

Figure BDA0002538620910000165
中选择最优的Si和
Figure BDA0002538620910000166
满足Step S4: Select the source node and the sending time with the shortest total current transmission duration in the above time interval, delete the source node from the set of nodes whose sending time has not been determined, and add the source node to the node queue whose sending time has been determined. in all
Figure BDA0002538620910000165
Choose the optimal Si and
Figure BDA0002538620910000166
Satisfy

Figure BDA0002538620910000167
Figure BDA0002538620910000167

其中Si、Sj、Sk分别为第i、第j和第k对源节点和相应的目的节点，

Figure BDA0002538620910000168
Sj＝(sj,dj)∈Qr-1，
Figure BDA0002538620910000169
分别表示源节点sk到pl的传播时延，然后将Si从
Figure BDA00025386209100001610
中删除，并加入Qr-1，得到Qr。where S i , S j , and Sk are the i-th, j-th and k-th pairs of source nodes and corresponding destination nodes, respectively,
Figure BDA0002538620910000168
S j =(s j ,d j )∈Q r-1 ,
Figure BDA0002538620910000169
respectively represent the propagation delay from the source node sk to p l , and then change S i from
Figure BDA00025386209100001610
delete and add Q r-1 to obtain Q r .

上述实施例3中，根据式(7)可以得到，当r＝1时，最佳Si为S3＝(3,V)，

Figure BDA00025386209100001611
当r＝2时，最佳Si为S2＝(2,V)，
Figure BDA00025386209100001612
当r＝3时，最佳Si为S0＝(0,V)，
Figure BDA00025386209100001613
当r＝4时，最佳Si为S4＝(4,V)，
Figure BDA00025386209100001614
当r＝5时，最佳Si为S5＝(5,V)，
Figure BDA00025386209100001615
当r＝6时，最佳Si为S6＝(5,V)，
Figure BDA00025386209100001616
In the above embodiment 3, according to formula (7), it can be obtained that when r=1, the optimal Si is S 3 =(3, V ),
Figure BDA00025386209100001611
When r=2, the optimal Si is S 2 =(2, V ),
Figure BDA00025386209100001612
When r=3, the optimal Si is S 0 =(0, V ),
Figure BDA00025386209100001613
When r=4, the optimal Si is S 4 =(4, V ),
Figure BDA00025386209100001614
When r=5, the optimal Si is S 5 =(5, V ),
Figure BDA00025386209100001615
When r=6, the optimal Si is S 6 =(5, V ),
Figure BDA00025386209100001616

步骤S5、若r<K，r＝r+1，并重复执行步骤S3～步骤S5，否则令传输的起始时间为T0，第i个源节点si实际发送包的时间采用下式计算Step S5, if r<K, r=r+1, and repeat steps S3 to S5, otherwise let the start time of transmission be T 0 , and the time when the i-th source node si actually sends the packet is calculated by the following formula:

Figure BDA00025386209100001617
Figure BDA00025386209100001617

传输总时长为The total transmission time is

Figure BDA00025386209100001618
Figure BDA00025386209100001618

其中1≤i≤K，1≤j≤K，pl∈P。where 1≤i≤K, 1≤j≤K, p l ∈P.

上述实施例3中，当全部节点发送时间计算出来后，转换为正的发送时间可得

Figure BDA0002538620910000171
Figure BDA0002538620910000172
总传输时长为Ttotal＝6.085秒。In the above-mentioned Embodiment 3, when the sending time of all nodes is calculated, it can be converted into a positive sending time to obtain
Figure BDA0002538620910000171
Figure BDA0002538620910000172
The total transmission time is T total = 6.085 seconds.

上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.

Claims (5)

1. A method for planning the transmission time of the parallel communication of an underwater acoustic network, the underwater acoustic network is composed of a plurality of nodes, each node has the same clock, each node keeps a table for recording the propagation delay among all nodes, characterized in that, the following steps are adopted to plan the transmission time of a packet in each transmission cycle:
s1, each source node acquires a list of all source nodes and corresponding destination nodes in the current transmission period and the time length of a packet to be sent by all the source nodes in the underwater acoustic network;
s2, order Si＝(si,di) I is more than or equal to 1 and less than or equal to K, wherein s isi，diInitializing a node queue Q with determined sending time for the ith source node and corresponding destination node of the current transmission period, K is the number of the source nodes in the current transmission period0Establishing a set of nodes with undetermined transmission times
Figure FDA0002538620900000011
Initializing an iteration variable r as 1;
s3, from
Figure FDA0002538620900000012
Middle selection of SiWherein
Figure FDA0002538620900000013
Set of nodes representing undetermined transmission times at the r-1 th iteration, for all Sj＝(sj,dj)∈Qr-1Wherein Q isr-1Queue of nodes representing determined transmission times at the r-1 st iteration, Sj＝(sj,dj) J is more than or equal to 1 and is less than or equal to K, wherein s isj，djFor the jth source node and corresponding destination node of the current transmission cycle, calculating
Figure FDA0002538620900000014
Figure FDA0002538620900000015
Wherein
Figure FDA0002538620900000016
Respectively represents siTo di、siTo dj、sjTo di、sjTo djPropagation delay of, TsjFor the jth source node sjThe time at which the packet is sent is,
Figure FDA0002538620900000017
is a source node siOne time on the time axis and satisfies the source node siIn that
Figure FDA0002538620900000018
Sending packets to a destinationPoint djIs equal to the source node sjAt TsjSending packets to destination node djAt the time of the day,
Figure FDA0002538620900000021
is a source node siOne time on the time axis and satisfies the source node siIn that
Figure FDA0002538620900000022
Sending packets to destination node diIs equal to the source node sjAt TsjSending packets to destination node diThe time of arrival of all node data packets in the node queue with the determined sending time at the time of the r-th iteration to the destination node is obtained and mapped to the source node siAggregation on time axis
Figure FDA0002538620900000023
Wherein
Figure FDA0002538620900000024
For the jth source node sjThe time length required for sending the packet, C is the protection time, and
Figure FDA0002538620900000025
complement set at (- ∞, infinity)
Figure FDA0002538620900000026
Figure FDA0002538620900000027
Representing the source node s at the r-th iterationiA time interval during which the sending data packet does not conflict with all the node data packets in the node queue with the determined sending time;
s4, mixing SiFrom
Figure FDA0002538620900000028
Is deleted and Q is addedr-1To obtain QrSelecting
Figure FDA0002538620900000029
Figure FDA00025386209000000210
For the ith source node siThe time of sending the packet is satisfied
Figure FDA00025386209000000211
Figure FDA00025386209000000212
Wherein Sj＝(sj,dj)∈Qr-1J-th pair of source nodes and corresponding destination nodes, p, representing the current transmission periodlBelongs to P, P is the set of all nodes in the network,
Figure FDA00025386209000000213
respectively representing source nodes si、sjTo plPropagation delay of (2);
s5, if r<K, r +1, and repeatedly performing steps S3 to S5, otherwise, setting the start time of transmission to T0Ith source node siThe actual time to send the packet is calculated using the following equation
Figure FDA00025386209000000214
Total transmission duration of
Figure FDA00025386209000000215
Wherein i is more than or equal to 1 and less than or equal to K, j is more than or equal to 1 and less than or equal to K, pl∈P。
2. The method for planning transmission time of parallel communication in underwater acoustic network according to claim 1, wherein in step S4, the process of solving equation (4) is as follows:
s4.1, initializing the r iteration time SiCandidate transmission time set of
Figure FDA0002538620900000031
Figure FDA0002538620900000032
Wherein
Figure FDA0002538620900000033
To represent
Figure FDA0002538620900000034
At the end of the first time interval, [ T ]l st,Tl end) To represent
Figure FDA0002538620900000035
The first interval in (1), Tl stAnd Tl endRespectively represent
Figure FDA0002538620900000036
L is more than or equal to 1 and less than or equal to L, and L is
Figure FDA0002538620900000037
The number of included intervals;
s4.2, pair
Figure FDA0002538620900000038
Interval of (5) [ T ]l st,Tl end) L is 2. ltoreq. L. ltoreq.L, if T is satisfiedl end-Tl st>Lsi+ C, then Tl stIs added to
Figure FDA0002538620900000039
Performing the following steps;
s4.3, sending time to all candidates
Figure FDA00025386209000000310
Calculating a cost function
Figure FDA00025386209000000311
Wherein Sj＝(sj,dj)∈Qr-1，plBelongs to P, and selects order FkMinimum TkAs
Figure FDA00025386209000000312
3. The method as claimed in claim 1, wherein the steps S3 and S4 are performed in all of the steps S3 and S4
Figure FDA00025386209000000313
To select the optimum SiAnd
Figure FDA00025386209000000314
satisfy the requirement of
Figure FDA00025386209000000315
Figure FDA00025386209000000316
Wherein Si、Sj、SkThe ith, jth and kth pairs of source nodes and corresponding destination nodes,
Figure FDA00025386209000000317
Figure FDA00025386209000000318
Sj＝(sj,dj)∈Qr-1，pl∈P，
Figure FDA00025386209000000319
representing a source node skTo plIs delayed and then S is addediFrom
Figure FDA00025386209000000320
Is deleted and Q is addedr-1To obtain Qr。
4. The method of claim 1, wherein if a node broadcasts to other nodes, then Si＝(si,Vi) In which V isiIs s isiA set of all destination nodes.
5. The method for scheduling transmission time of underwater acoustic network parallel communication according to claim 4, wherein in step S3, the program is executed from
Figure FDA0002538620900000041
Middle selection of SiFor all Sj＝(sj,Vj)∈Qr-1Calculating
Figure FDA0002538620900000042
Figure FDA0002538620900000043
Wherein d isin∈ViIs a ViN-th node in (1), djm∈VjIs a VjThe m-th node in (2) is,
Figure FDA0002538620900000044
Figure FDA0002538620900000045
respectively represents siTo din、siTo djm、sjTo din、sjTo djmThe propagation delay of the signal is reduced to zero,
Figure FDA0002538620900000046
for the jth source node sjThe time at which the packet is sent is,
Figure FDA0002538620900000047
for the ith source node siA time on the time axis and satisfies the ith source node siIn that
Figure FDA0002538620900000048
Sending packets to destination node djmIs equal to the source node sjIn that
Figure FDA0002538620900000049
Sending packets to destination node djmAt the time of the day,
Figure FDA00025386209000000410
for the ith source node siA time on the time axis and satisfies the ith source node siIn that
Figure FDA00025386209000000411
Sending packets to destination node dinIs equal to the source node sjIn that
Figure FDA00025386209000000412
Sending packets to destination node dinAnd aggregate the time of
Figure FDA00025386209000000413
Wherein
Figure FDA00025386209000000414
Is s isjThe time length required for sending the packet, C is the protection time, and
Figure FDA00025386209000000415
complement set at (- ∞, infinity)
Figure FDA00025386209000000416
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