约束条件下的无线传感器网络关键技术研究
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摘要
无线传感器网络技术经过过去十余年间的发展，已经逐步在检测、识别、定位和跟踪等应用领域发挥着积极的作用。然而，由于许多关键技术的研究和开发还存在诸多开问题，使得应用领域的深度拓展遇到技术瓶颈，亟待加以解决和完善，是目前国内外相关学者热点关注的研究课题。论文选择以无线传感器网络的覆盖机制、非视距定位和网络生存期三个关键技术为突破口，分别相应开展在工程应用成本、非视距误差和能量有限三个约束条件下的应用基础研究，提出了一些创新性思路和方法，并从理论和技术的层面对其可行性和实用性予以验证及评估。这些探索性的工作和取得的进展或成果，对WSN应用领域的拓展具有十分重要的科学意义和应用价值。论文的主要工作和创新性研究成果如下：
（1）针对工程应用成本约束，基于无线传感器节点的圆盘感知模型提出了一种带状区域菱形覆盖机制（SARC），实现了对监测目标区域无线传感器节点的低销分配、检测覆盖和网络优化，有效降低了系统建构的成本。
在WSN工程实施前，需要大致知晓整个系统的成本开销。为了能够为工程实施提供必要的区域覆盖指导和预算参考，针对成本约束问题，提出了一种带状区域菱形覆盖机制。在该覆盖机制中，完成了数学模型的定义和描述，通过对节点覆盖模型的研究，选择圆盘感知模型实现了网络覆盖机制的设计，进而给出了网络所需覆盖节点数量的解析式和网络覆盖的具体优化方法。通过实验验证了设计模型在优化前后的差异，并提出了有益降低工程实施成本的建议。
在10001000区域内，首先对实现全覆盖和k-连通的菱形覆盖机制进行优化，然后比较了不同最优模型在提供全覆盖和k-连通时所需节点的数量，仿真结果表明，在全覆盖的前提下，为了维持网络的高连通性，需要在传感器节点数量上作出一定的牺牲。同时，对3-连通全覆盖优化前后的SARC模型进行了数值仿真和对比，其中重点考察了0.3RC RS2的情形，实验表明，当RC RS0.5时，提出的最优模型可以减少大约1/3以上的节点开销。另外，为了方便区域部署并考虑节点由于能量耗尽或损毁造成的失效等因素，还考察了RC R S3的情形，通过仿真实验表明，为了在网络健壮性和传感器节点开销上取得一个折中，建议在工程实施中选择3-连通全覆盖优化模型，且尽量满足RC R S3的条件，以降低系统架构的成本。
（2）针对非视距误差影响，利用线性规划估计和顺序位置估计方法提出了一种新的“类”线性规划协同定位算法，并对误差传播恶化问题加以处理，实现了非视距环境下的定位精度提升。
在密林、峡谷、曲折巷道等苛刻环境中，节点通信受到非视距影响问题突出。学者们尝试通过多种方式试图加以解决，一是采用GPS模块为节点提供位置服务，但成本较高，且在一些遮蔽区域定位依然不佳；二是通过增大网络节点的数量，尽量规避非视距误差对精度带来的影响，但同时也加大了整个系统的开销，数据阻塞或丢包现象严重；三是从算法入手进行软处理，研究非视距下的多节点协同定位方法。此处的工作基于第三种展开。
线性规划方法需要有至少到三个锚节点的视距距离估计，以建立线性目标函数。然而在WSN中，往往没有足够的锚节点分布，因此该条件基本上很难得到满足。为了获得更多节点的定位信息并扩大定位覆盖范围，联合运用线性规划方法和顺序位置估计方法，提出一种新的“类”线性规划框架。通过对最小二乘估计，线性规划估计以及顺序位置估计的深入研究，提出了“类”线性协同定位估计算法，并对算法可能导致的传播恶化问题加以处理。该算法采用了一种并发的研究方式，运用线性的定位方法解决了难以处理的非线性问题，在抑制非视距误差对定位精度产生的影响上取得了较好的效果。
实验对算法在覆盖累积分布统计、平均覆盖率和定位误差等方面的综合性能进行了评估。首先对新框架在覆盖度与定位精度两个指标下进行考察，同时研究了锚节点和盲节点数对这两个指标的影响。采用累积分布函数对覆盖度和定位数量进行分析，新框架在2-hop和3-hop上具有较大的优势，这得益于在协同定位中对非视距误差的抑制。其次，做了平均覆盖度和定位误差性能的实验，新框架在3-hop上的性能具有较大优势。同时发现在相同条件下，增加hop并不能收到更好的平均覆盖度，增加盲节点也会对定位精度和计算复杂度产生一定负面影响，因此需要针对实际应用在二者间进行折中处理。
（3）针对节点能量有限约束，设计出了一种简单能量有效路由协议，运用于对WSN节点能耗趋势的评估，进而提出了一种非均匀渐进部署算法（NUPDA），实现了网络节点能耗的均衡化以延长生存期。
网络终端在执行探测、处理和通信等任务时均需要消耗较大的能量，由于传感器节点所携带的能量有限，因此往往会因为能耗问题导致监测盲洞、网络割裂甚至感知能力完全丧失的现象。学者们大致从两个方向开展网络生存期延长技术的研究，一是开发自然能源提取技术，通过捕获太阳能、风能等形式的外界能量进行网络能源补给；二是在现有携带的有限能量前提下，开展低耗能节点设计和网络能量均衡技术的研究。此处的工作基于后者。
首先从无线传感器节点的能耗模型入手加以分析，依据可扩展性、能量有效和简单实用的原则，设计出一个简单能量有效路由协议，给出了实现该协议的基本流程和操作方法；接着对该协议的性能加以评估，主要进行了首个节点“死亡”、因最近邻居节点失效导致不可达Sink、网络节点存活率低于对应门限的时耗和节点平均剩余能量的实验；同时还进行了信息采集的验证，得出的结论为了解WSN中节点能耗趋势，和开展后续算法设计奠定了基础。
基于以上工作，重点对2-D部署模型加以研究。首先定义了单个节点和整个网络的生存期，并建立2-D数学模型；然后根据能耗趋势对感知区域进行等级划分，在不同等级上通过增加节点数量对生存期加以干预，进而提出能够实现网络能耗均衡的算法---非均匀渐进部署算法；接着计算出了不同等级非均匀分布的的最少节点数量和对应的生存期，并在相同节点数量的前提下，与网络均匀部署方案加以对比，实验表明该算法达到了网络节点能耗均衡的目的，有效延长了网络的生存期。
With the technology development and constant expansion of application fields inthe past more than ten years, wireless sensors networks (WSN) began to graduallyplay a positive role in the detection, identification, location and tracking, and otherareas of the application, and has become one of the four pillar industries in the field ofhigh and new technology in the21st century. In spite of this, many of the keytechnology of wireless sensor network still need to be addressed or perfect, such asenergy optimization, non-line-of-sight (NLOS) location, coverage scheme, and so on,is one of the hot research topics in the domestic and foreign scholars, and causedwidespread concern.Perception of the application in specific environment, WSN is todetermine or random deployed. Whether network can work normally, it will beaffected by many factors such as the project cost, non line-of-sight error and finiteenergy, and so on. According to the above constraints, the main work and innovationsof this thesis are as follows.
(a) In view of the cost constraint, this thesis put forward a kind of coveragescheme of the strip area rhombus deploy(SARC) based on the disk sensing model ofwireless sensor nodes, is used to the effective of node distribution, area coverage andnetwork optimization in monitor area.
In the application of WSN, the project needs to consider the cost of the wholesystem. Normally, these costs need to know roughly before deployment. Thiscoverage scheme gives the basic method of establishing mathematical coverage model,and the analytical expressions of nodes number required, can effectively carry outcalculation of the number of nodes and deployment in the case of full coverage andk-connectivity.
Firstly, we completed optimization of coverage scheme under the premise of full coverage and k-connectivity in the areas of10001000square meters. Then, wecompared the number of nodes of the different optimal models. The simulation resultsshow that WSN need to make big sacrifices in the number of sensor nodes in order tomaintain network k-connectivity, under the premise of full coverage. At the same time,we has carried on the numerical simulation of the SARC model before and afteroptimization of full coverage and3-connectivity, which focuses on0.3RC RS2situation, can be found that this optimal model can be reduced by more than about athird node, when RC RS0.5. In addition, in order to facilitate area deployment andconsider the node failure due to run out of energy or damage, etc, we also describedRC R S3situation. the simulation experiment results can recommend3-connectivity and full coverage optimal model to the engineering application becauseof the network robustness and sensor nodes overhead, and satisfyRC R S3condition as far as possible, in order to reduce the cost of the systemarchitecture.
(b) In view of the NLOS error constraint, this thesis presents a new kind ofanalogous linear programming model which uses a combine of the linear planning andsequential location method, and process the deterioration of error propagationproblem, improve the positioning precision of non-line-of-sight environments.
Node communication will be seriously influenced by NLOS, especially in theharsh environments such as the dense forest, canyon, tunnels of twists and turns, etc.Scholars try to solve it by the many different ways, one is to use the nodes with theGPS module which provides a high-precision localization information, but the cost ishigher and location accuracy is very lower or the nodes can not locate; second, themethod is to increase the number of nodes, as far as possible to circumvent the effectsof non-line-of-sight error, but also increase the cost of the whole system, and result inthe serious phenomenon of the data congestion and packet loss; the three method isSoft processing, studies the algorithm of multiple nodes cooperative localizationmethod under a non line-of-sight environment. Our works is mainly based on the third,the corresponding mathematical model is established, and a comparative experimentwas carried out.
To establish a linear objective function, linear programming method requiresline-of-sight distance estimation of at least three anchor nodes. However, WSN isoften not enough distribution of anchor nodes. So basically, this condition is difficult to satisfy. In order to get more information and enlarge the range of localizationcoverage, this thesis put forward a new kind of analogous linear programmingframework which combines with linear programming method and the sequentiallocalization method. First of all, we need to establish artificial non-line-of-sightlocation estimation, and these estimates should be brought into the linearprogramming method, to facilitate completion of blind node localization; Second, weuse the thought of virtual anchor node, when a blind node location once get, willimmediately updated to a new virtual anchor node, thus assist to complete other blindnode localization.
We did simulation experiments of sequential least squares estimate and the newframework about the two technical indexes of coverage and positioning accuracy, andalso investigated the affect of the number of anchor nodes and blind nodes to the twotechnical indexes. First, we analyzed coverage and the number of localization usingthe cumulative distribution function, and found that the new framework has greatadvantages in2-hop and3-hop, thanks to inhibition of cooperative localization tonon-line-of-sight error. Second, we have made the performance comparison of theaverage coverage and the localization error, experiments show that the newframework has better performance than sequential least squares estimate in3-hop.Atthe same time, we also found that the average coverage effects are not obvious by theincrease of the hop count, and increasing of the number of blind node will havenegative influence on localization accuracy and computational complexity. So, weneed to compromise between the two aspects according to the practical application.
(c) In view of the energy constraint, this thesis design a simple energy efficientrouting protocol which used in the evaluation of WSN node energy consumptiontrends, go a step further, we put forward a kind of non-uniform Progressivedeployment algorithm (NUPDA) which realizing the equalization of energyconsumption of nodes to prolong the network lifetime.
Network node need to consume large energy in carrying out detection,processing and communication tasks. Due to the energy is limited, limited energyoften leads to the monitoring blind hole, network partition and even complete lossperception ability. Scholars mainly carry out research of the network lifetimeextension technology from two aspects, one is the development of energy scavengingtechnology, by capturing solar energy, wind energy and other forms of external energyprovide the energy for network. Second is to carry on research on the premise oflimited energy, through development of low energy design and energy balance technology of network node to achieve prolong network lifetime.
First of all, according to the extensibility, energy efficient, simple and practicalprinciple, we design a simple energy efficient routing protocol based on the wirelesssensor node energy consumption model, and present the operation method and thebasic flow of this protocol. Then, we mainly evaluated the performance of theprotocol about time consume at which the first node fails due to depleting its energysource, and at which the sink becomes unreachable, due to its last neighbor failing, atwhich network node survival rate is lower than the corresponding threshold, and aboutthe comparison of average residual energy of nodes. At the same time, we carry outexperiment of the information acquisition. The conclusion provides an importantreference for our understanding of the trends of WSN node energy consumption.
Based on the above work, we focus on2-D deployment model. First of all, wedefine lifetime of a single node and the network. Then, we divide the energyconsumption level of sense field according to the energy consumption trend, andintervene different level lifetime by increasing the number of nodes, and present anetwork energy equalization algorithm---NUPDA; Then, on the premise of the samenumber of nodes, node number of non-uniform distribution of different levels and thecorresponding lifetime was given. Finally, we contrasted the uniform and non-uniformdisplay. The results show that the proposed algorithm has greatly improved in thenetwork lifetime.
（1）针对工程应用成本约束，基于无线传感器节点的圆盘感知模型提出了一种带状区域菱形覆盖机制（SARC），实现了对监测目标区域无线传感器节点的低销分配、检测覆盖和网络优化，有效降低了系统建构的成本。
在WSN工程实施前，需要大致知晓整个系统的成本开销。为了能够为工程实施提供必要的区域覆盖指导和预算参考，针对成本约束问题，提出了一种带状区域菱形覆盖机制。在该覆盖机制中，完成了数学模型的定义和描述，通过对节点覆盖模型的研究，选择圆盘感知模型实现了网络覆盖机制的设计，进而给出了网络所需覆盖节点数量的解析式和网络覆盖的具体优化方法。通过实验验证了设计模型在优化前后的差异，并提出了有益降低工程实施成本的建议。
在10001000区域内，首先对实现全覆盖和k-连通的菱形覆盖机制进行优化，然后比较了不同最优模型在提供全覆盖和k-连通时所需节点的数量，仿真结果表明，在全覆盖的前提下，为了维持网络的高连通性，需要在传感器节点数量上作出一定的牺牲。同时，对3-连通全覆盖优化前后的SARC模型进行了数值仿真和对比，其中重点考察了0.3RC RS2的情形，实验表明，当RC RS0.5时，提出的最优模型可以减少大约1/3以上的节点开销。另外，为了方便区域部署并考虑节点由于能量耗尽或损毁造成的失效等因素，还考察了RC R S3的情形，通过仿真实验表明，为了在网络健壮性和传感器节点开销上取得一个折中，建议在工程实施中选择3-连通全覆盖优化模型，且尽量满足RC R S3的条件，以降低系统架构的成本。
（2）针对非视距误差影响，利用线性规划估计和顺序位置估计方法提出了一种新的“类”线性规划协同定位算法，并对误差传播恶化问题加以处理，实现了非视距环境下的定位精度提升。
在密林、峡谷、曲折巷道等苛刻环境中，节点通信受到非视距影响问题突出。学者们尝试通过多种方式试图加以解决，一是采用GPS模块为节点提供位置服务，但成本较高，且在一些遮蔽区域定位依然不佳；二是通过增大网络节点的数量，尽量规避非视距误差对精度带来的影响，但同时也加大了整个系统的开销，数据阻塞或丢包现象严重；三是从算法入手进行软处理，研究非视距下的多节点协同定位方法。此处的工作基于第三种展开。
线性规划方法需要有至少到三个锚节点的视距距离估计，以建立线性目标函数。然而在WSN中，往往没有足够的锚节点分布，因此该条件基本上很难得到满足。为了获得更多节点的定位信息并扩大定位覆盖范围，联合运用线性规划方法和顺序位置估计方法，提出一种新的“类”线性规划框架。通过对最小二乘估计，线性规划估计以及顺序位置估计的深入研究，提出了“类”线性协同定位估计算法，并对算法可能导致的传播恶化问题加以处理。该算法采用了一种并发的研究方式，运用线性的定位方法解决了难以处理的非线性问题，在抑制非视距误差对定位精度产生的影响上取得了较好的效果。
实验对算法在覆盖累积分布统计、平均覆盖率和定位误差等方面的综合性能进行了评估。首先对新框架在覆盖度与定位精度两个指标下进行考察，同时研究了锚节点和盲节点数对这两个指标的影响。采用累积分布函数对覆盖度和定位数量进行分析，新框架在2-hop和3-hop上具有较大的优势，这得益于在协同定位中对非视距误差的抑制。其次，做了平均覆盖度和定位误差性能的实验，新框架在3-hop上的性能具有较大优势。同时发现在相同条件下，增加hop并不能收到更好的平均覆盖度，增加盲节点也会对定位精度和计算复杂度产生一定负面影响，因此需要针对实际应用在二者间进行折中处理。
（3）针对节点能量有限约束，设计出了一种简单能量有效路由协议，运用于对WSN节点能耗趋势的评估，进而提出了一种非均匀渐进部署算法（NUPDA），实现了网络节点能耗的均衡化以延长生存期。
网络终端在执行探测、处理和通信等任务时均需要消耗较大的能量，由于传感器节点所携带的能量有限，因此往往会因为能耗问题导致监测盲洞、网络割裂甚至感知能力完全丧失的现象。学者们大致从两个方向开展网络生存期延长技术的研究，一是开发自然能源提取技术，通过捕获太阳能、风能等形式的外界能量进行网络能源补给；二是在现有携带的有限能量前提下，开展低耗能节点设计和网络能量均衡技术的研究。此处的工作基于后者。
首先从无线传感器节点的能耗模型入手加以分析，依据可扩展性、能量有效和简单实用的原则，设计出一个简单能量有效路由协议，给出了实现该协议的基本流程和操作方法；接着对该协议的性能加以评估，主要进行了首个节点“死亡”、因最近邻居节点失效导致不可达Sink、网络节点存活率低于对应门限的时耗和节点平均剩余能量的实验；同时还进行了信息采集的验证，得出的结论为了解WSN中节点能耗趋势，和开展后续算法设计奠定了基础。
基于以上工作，重点对2-D部署模型加以研究。首先定义了单个节点和整个网络的生存期，并建立2-D数学模型；然后根据能耗趋势对感知区域进行等级划分，在不同等级上通过增加节点数量对生存期加以干预，进而提出能够实现网络能耗均衡的算法---非均匀渐进部署算法；接着计算出了不同等级非均匀分布的的最少节点数量和对应的生存期，并在相同节点数量的前提下，与网络均匀部署方案加以对比，实验表明该算法达到了网络节点能耗均衡的目的，有效延长了网络的生存期。
With the technology development and constant expansion of application fields inthe past more than ten years, wireless sensors networks (WSN) began to graduallyplay a positive role in the detection, identification, location and tracking, and otherareas of the application, and has become one of the four pillar industries in the field ofhigh and new technology in the21st century. In spite of this, many of the keytechnology of wireless sensor network still need to be addressed or perfect, such asenergy optimization, non-line-of-sight (NLOS) location, coverage scheme, and so on,is one of the hot research topics in the domestic and foreign scholars, and causedwidespread concern.Perception of the application in specific environment, WSN is todetermine or random deployed. Whether network can work normally, it will beaffected by many factors such as the project cost, non line-of-sight error and finiteenergy, and so on. According to the above constraints, the main work and innovationsof this thesis are as follows.
(a) In view of the cost constraint, this thesis put forward a kind of coveragescheme of the strip area rhombus deploy(SARC) based on the disk sensing model ofwireless sensor nodes, is used to the effective of node distribution, area coverage andnetwork optimization in monitor area.
In the application of WSN, the project needs to consider the cost of the wholesystem. Normally, these costs need to know roughly before deployment. Thiscoverage scheme gives the basic method of establishing mathematical coverage model,and the analytical expressions of nodes number required, can effectively carry outcalculation of the number of nodes and deployment in the case of full coverage andk-connectivity.
Firstly, we completed optimization of coverage scheme under the premise of full coverage and k-connectivity in the areas of10001000square meters. Then, wecompared the number of nodes of the different optimal models. The simulation resultsshow that WSN need to make big sacrifices in the number of sensor nodes in order tomaintain network k-connectivity, under the premise of full coverage. At the same time,we has carried on the numerical simulation of the SARC model before and afteroptimization of full coverage and3-connectivity, which focuses on0.3RC RS2situation, can be found that this optimal model can be reduced by more than about athird node, when RC RS0.5. In addition, in order to facilitate area deployment andconsider the node failure due to run out of energy or damage, etc, we also describedRC R S3situation. the simulation experiment results can recommend3-connectivity and full coverage optimal model to the engineering application becauseof the network robustness and sensor nodes overhead, and satisfyRC R S3condition as far as possible, in order to reduce the cost of the systemarchitecture.
(b) In view of the NLOS error constraint, this thesis presents a new kind ofanalogous linear programming model which uses a combine of the linear planning andsequential location method, and process the deterioration of error propagationproblem, improve the positioning precision of non-line-of-sight environments.
Node communication will be seriously influenced by NLOS, especially in theharsh environments such as the dense forest, canyon, tunnels of twists and turns, etc.Scholars try to solve it by the many different ways, one is to use the nodes with theGPS module which provides a high-precision localization information, but the cost ishigher and location accuracy is very lower or the nodes can not locate; second, themethod is to increase the number of nodes, as far as possible to circumvent the effectsof non-line-of-sight error, but also increase the cost of the whole system, and result inthe serious phenomenon of the data congestion and packet loss; the three method isSoft processing, studies the algorithm of multiple nodes cooperative localizationmethod under a non line-of-sight environment. Our works is mainly based on the third,the corresponding mathematical model is established, and a comparative experimentwas carried out.
To establish a linear objective function, linear programming method requiresline-of-sight distance estimation of at least three anchor nodes. However, WSN isoften not enough distribution of anchor nodes. So basically, this condition is difficult to satisfy. In order to get more information and enlarge the range of localizationcoverage, this thesis put forward a new kind of analogous linear programmingframework which combines with linear programming method and the sequentiallocalization method. First of all, we need to establish artificial non-line-of-sightlocation estimation, and these estimates should be brought into the linearprogramming method, to facilitate completion of blind node localization; Second, weuse the thought of virtual anchor node, when a blind node location once get, willimmediately updated to a new virtual anchor node, thus assist to complete other blindnode localization.
We did simulation experiments of sequential least squares estimate and the newframework about the two technical indexes of coverage and positioning accuracy, andalso investigated the affect of the number of anchor nodes and blind nodes to the twotechnical indexes. First, we analyzed coverage and the number of localization usingthe cumulative distribution function, and found that the new framework has greatadvantages in2-hop and3-hop, thanks to inhibition of cooperative localization tonon-line-of-sight error. Second, we have made the performance comparison of theaverage coverage and the localization error, experiments show that the newframework has better performance than sequential least squares estimate in3-hop.Atthe same time, we also found that the average coverage effects are not obvious by theincrease of the hop count, and increasing of the number of blind node will havenegative influence on localization accuracy and computational complexity. So, weneed to compromise between the two aspects according to the practical application.
(c) In view of the energy constraint, this thesis design a simple energy efficientrouting protocol which used in the evaluation of WSN node energy consumptiontrends, go a step further, we put forward a kind of non-uniform Progressivedeployment algorithm (NUPDA) which realizing the equalization of energyconsumption of nodes to prolong the network lifetime.
Network node need to consume large energy in carrying out detection,processing and communication tasks. Due to the energy is limited, limited energyoften leads to the monitoring blind hole, network partition and even complete lossperception ability. Scholars mainly carry out research of the network lifetimeextension technology from two aspects, one is the development of energy scavengingtechnology, by capturing solar energy, wind energy and other forms of external energyprovide the energy for network. Second is to carry on research on the premise oflimited energy, through development of low energy design and energy balance technology of network node to achieve prolong network lifetime.
First of all, according to the extensibility, energy efficient, simple and practicalprinciple, we design a simple energy efficient routing protocol based on the wirelesssensor node energy consumption model, and present the operation method and thebasic flow of this protocol. Then, we mainly evaluated the performance of theprotocol about time consume at which the first node fails due to depleting its energysource, and at which the sink becomes unreachable, due to its last neighbor failing, atwhich network node survival rate is lower than the corresponding threshold, and aboutthe comparison of average residual energy of nodes. At the same time, we carry outexperiment of the information acquisition. The conclusion provides an importantreference for our understanding of the trends of WSN node energy consumption.
Based on the above work, we focus on2-D deployment model. First of all, wedefine lifetime of a single node and the network. Then, we divide the energyconsumption level of sense field according to the energy consumption trend, andintervene different level lifetime by increasing the number of nodes, and present anetwork energy equalization algorithm---NUPDA; Then, on the premise of the samenumber of nodes, node number of non-uniform distribution of different levels and thecorresponding lifetime was given. Finally, we contrasted the uniform and non-uniformdisplay. The results show that the proposed algorithm has greatly improved in thenetwork lifetime.
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