CN-117409615-B - AUV data collection method, device, medium and equipment based on track optimization

CN117409615BCN 117409615 BCN117409615 BCN 117409615BCN-117409615-B

Abstract

The embodiment of the application provides an AUV data collection method, device, medium and equipment based on track optimization. The method comprises the steps of periodically sending RTR signals outwards in the process of advancing according to a preset track, converting a motion state into a hovering state if RTS signals fed back by any underwater sensor node are received within a first preset time after the RTR signals are sent, determining a target data collecting position of a target AUV according to node coordinate information and data quantity to be collected in at least one RTS signal, determining identification information and scheduling time of each underwater sensor node feeding back the RTS signals, generating and broadcasting ORDER data packets, receiving data packets fed back by each underwater sensor node according to the scheduling time in the ORDER data packets after the RTS signals are sent to the target data collecting position, and continuing advancing according to the preset track after the RTS signals are received. The technical scheme of the embodiment of the application can reduce the energy loss and delay during data collection and ensure the data collection effect.

Inventors

CHENG EN
CAO WEINAN
CHEN KEYU
CHEN ZHONG

Assignees

厦门大学

Dates

Publication Date: 20260508
Application Date: 20230908

Claims (10)

1. The AUV data collection method based on track optimization is characterized by being applied to a target AUV; The method comprises the following steps: In the process of advancing according to a preset track, periodically and outwardly sending an RTR signal, wherein the RTR signal is used for waking up an underwater sensor node; if an RTS signal fed back by any underwater sensor node is received within a first preset time after the RTR signal is sent, the RTS signal is converted from a motion state to a hovering state, wherein the RTS signal comprises identification information of the underwater sensor node, node coordinate information, data quantity to be collected, residual storage capacity and residual energy; Determining a target data collection position for maximizing a data collection profit function corresponding to the target AUV according to node coordinate information and data quantity to be collected in at least one RTS signal received in a hovering state, wherein the data collection profit function is determined based on the energy consumption cost of the target AUV, the energy consumption profit of an underwater sensor node and the delay profit of data reception; Determining access priority and scheduling time of each underwater sensor node feeding back the RTS signal according to the target data collecting position, the residual storage capacity and the residual energy in the at least one RTS signal; generating and broadcasting corresponding ORDER data packets according to the identification information and the scheduling time of each underwater sensor node feeding back the RTS signals; and after moving to the target data collecting position, receiving a data packet fed back by each underwater sensor node according to the scheduling time in the ORDER data packet, and continuing to advance according to the preset track after receiving is completed.
2. The method of claim 1, wherein determining a target data collection location that maximizes a data collection profit function corresponding to the target AUV based on node coordinate information in at least one RTS signal received in a hover state and an amount of data to be collected, comprises: determining a target hover range of the target AUV according to node coordinate information in at least one RTS signal received in a hover state; Determining a data collection profit function of the target AUV according to node coordinate information in the at least one RTS signal and the data quantity to be collected; And selecting a coordinate point which maximizes the data collection profit function from the target hovering range as a target data collection position.
3. The method of claim 2, wherein selecting a coordinate point from the target hover range that maximizes the data collection profit function as a target data collection location comprises: And setting coordinate points of the target hovering range as an action set based on a Deep-Q Network reinforcement learning algorithm, taking a data collection profit function as a reward function, and determining a coordinate point which maximizes rewards in the action set as a target data collection position.
4. The method of claim 1, wherein after receiving the data packets fed back by each of the underwater sensor nodes according to the ORDER data packets, the method further comprises, before proceeding according to the predetermined trajectory: and broadcasting the ACK data packet outwards, and receiving the data packet fed back by the underwater sensing node according to the ACK data packet.
5. The method of any of claims 1-4, wherein if no RTS signal is received within the first predetermined time period, the target AUV continues to advance along the predetermined trajectory, the first predetermined time period being determined by a maximum propagation delay between the AUV and an underwater sensor node and a transmission delay of a control packet.
6. The method according to any one of claims 1-4, wherein determining access priority and scheduling time of each underwater sensor node feeding back an RTS signal based on the target data collection location and remaining storage capacity and remaining energy in the at least one RTS signal comprises: determining the emergency degree of each underwater sensor node according to the residual storage capacity and the residual energy in the at least one RTS signal; Determining the access priority of each underwater sensor node according to the sequence of the emergency degree of each underwater sensor node from big to small; And determining the scheduling time of each underwater sensor node according to the target data collecting position, the access priority of each underwater sensor node and the node coordinate information.
7. An AUV data collection device based on track optimization is characterized by being applied to a target AUV; The device comprises: The first broadcasting module is used for periodically and outwardly sending RTR signals in the process of advancing according to a preset track, and the RTR signals are used for waking up the underwater sensor node; The RTS signal is used for converting a motion state into a hovering state if the RTS signal fed back by any underwater sensor node is received within a first preset time after the RTR signal is sent, and comprises identification information of the underwater sensor node, node coordinate information, data quantity to be collected, residual storage capacity and residual energy; A first determining module, configured to determine a target data collection position that maximizes a data collection profit function corresponding to the target AUV according to node coordinate information in at least one RTS signal received in a hover state and an amount of data to be collected, where the data collection profit function is determined based on an energy consumption cost of the target AUV, an energy consumption profit of an underwater sensor node, and a delay profit of data reception; The second determining module is used for determining the access priority and the scheduling time of each underwater sensor node feeding back the RTS signal according to the target data collecting position, the residual storage capacity and the residual energy in the at least one RTS signal; The second broadcasting module is used for generating and broadcasting corresponding ORDER data packets according to the identification information and the scheduling time of each underwater sensor node feeding back the RTS signals; And the processing module is used for receiving the data packet fed back by each underwater sensor node according to the scheduling time in the ORDER data packet after moving to the target data collection position, and continuing to advance according to the preset track after receiving.
8. The apparatus of claim 7, wherein the first determining module is configured to: determining a target hover range of the target AUV according to node coordinate information in at least one RTS signal received in a hover state; Determining a data collection profit function of the target AUV according to node coordinate information in the at least one RTS signal and the data quantity to be collected; And selecting a coordinate point which maximizes the data collection profit function from the target hovering range as a target data collection position.
9. A computer readable medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the trajectory optimization based AUV data collection method of any one of claims 1 to 6.
10. An electronic device, comprising: One or more processors; Storage means for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the trajectory optimization based AUV data collection method of any one of claims 1 to 6.

Description

AUV data collection method, device, medium and equipment based on track optimization Technical Field The application relates to the technical field of underwater acoustic sensor networks, in particular to an AUV data collection method, device, medium and equipment based on track optimization. Background Autonomous underwater vehicles (Autonomous Underwater Vehicle, AUV) are one of the products of ocean high technology and have become a key device in the ocean world. The AUV has various characteristics that the AUV can be tightly coupled with UASNs, is an indispensable component for establishing a highly intelligent unmanned autonomous multifunctional ocean information network, and greatly expands the functional boundaries of UASNs (underwater acoustic sensor networks Underwater Acoustic Sensor Networks). In the current technical scheme, the data collection method based on the AUV is designed based on underwater node clustering and path planning of the AUV, however, the method is based on priori information perception of the underwater network before the AUV is launched, so that the method is difficult to realize, energy loss and delay in data collection can be increased, and the data collection effect is affected. Disclosure of Invention The embodiment of the application provides an AUV data collection method, an AUV data collection device, an AUV data collection medium and AUV data collection equipment based on track optimization, which can reduce energy loss and delay during data collection at least to a certain extent and ensure data collection effect. Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application. According to an aspect of the embodiment of the application, an AUV data collection method based on track optimization is provided, and is applied to a target AUV; The method comprises the following steps: In the process of advancing according to a preset track, periodically and outwardly sending an RTR signal, wherein the RTR signal is used for waking up an underwater sensor node; if an RTS signal fed back by any underwater sensor node is received within a first preset time after the RTR signal is sent, the RTS signal is converted from a motion state to a hovering state, wherein the RTS signal comprises identification information of the underwater sensor node, node coordinate information, data quantity to be collected, residual storage capacity and residual energy; Determining a target data collection position for maximizing a data collection profit function corresponding to the target AUV according to node coordinate information and data quantity to be collected in at least one RTS signal received in a hovering state, wherein the data collection profit function is determined based on the energy consumption cost of the target AUV, the energy consumption profit of an underwater sensor node and the delay profit of data reception; Determining access priority and scheduling time of each underwater sensor node feeding back the RTS signal according to the target data collecting position, the residual storage capacity and the residual energy in the at least one RTS signal; generating and broadcasting corresponding ORDER data packets according to the identification information and the scheduling time of each underwater sensor node feeding back the RTS signals; and after moving to the target data collecting position, receiving a data packet fed back by each underwater sensor node according to the scheduling time in the ORDER data packet, and continuing to advance according to the preset track after receiving is completed. According to an aspect of the embodiment of the application, an AUV data collection device based on track optimization is provided, and is applied to a target AUV; The device comprises: The first broadcasting module is used for periodically and outwardly sending RTR signals in the process of advancing according to a preset track, and the RTR signals are used for waking up the underwater sensor node; The RTS signal is used for converting a motion state into a hovering state if the RTS signal fed back by any underwater sensor node is received within a first preset time after the RTR signal is sent, and comprises identification information of the underwater sensor node, node coordinate information, data quantity to be collected, residual storage capacity and residual energy; A first determining module, configured to determine a target data collection position that maximizes a data collection profit function corresponding to the target AUV according to node coordinate information in at least one RTS signal received in a hover state and an amount of data to be collected, where the data collection profit function is determined based on an energy consumption cost of the target AUV, an energy consumption profit of an underwater sensor node, and a delay profit of data reception; The second determi