Mobile Sink path planning method for underwater heterogeneous sensor network
A heterogeneous sensor and path planning technology, which is applied in the field of sensor networks, can solve problems such as insufficient monitoring areas, high importance of monitoring areas, and long driving distances of mobile sinks.
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[0052] The present invention will be further described below in conjunction with specific examples.
[0053] According to one embodiment of the present invention, an underwater heterogeneous sensor network system is provided, which is an underwater data acquisition network deployed heterogeneously, including underwater sensor nodes with a double-layer topology and a converging node, mobile sink node and gateway node.
[0054] The sensor nodes are densely arranged on the seabed, with limited resources and small storage space. It is suitable for converting small-scale seabed observation data (such as temperature, salinity, depth vibration, etc.) to be collected into digital signals, and transmitted to the upper layer by the underwater acoustic channel node, the communication distance is small, and the price is cheap. The sensor node consists of the main control microcontroller and the underwater acoustic emission receiving module connected to it, temperature, salinity, ambient ...
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