CN104883749A - Ocean stereoscopic monitoring sensor network deployment method based on floating cable - Google Patents

Abstract

The present invention provides a marine three-dimensional sensor network deployment method based on floating cables, which is characterized in that: a number of linear combination nodes are deployed in the ocean, wherein each of the linear combination nodes includes a water surface node floating on the sea surface , a plurality of cable underwater nodes fixed on the cable, and submarine nodes, the surface nodes, cable underwater nodes and submarine nodes are connected in series by cables to form a linear composite node, and the linear composite nodes are fixed by seabed anchor blocks at the bottom of the sea. According to the ocean floating characteristics of linear combined nodes and the ocean monitoring coverage requirements, the deployment method obtains the optimal number of sea surface coverage nodes and the node monitoring radius conditions required for three-dimensional coverage. The invention can meet the long-term deployment requirements of marine monitoring, has low deployment cost and algorithm overhead, and high monitoring efficiency, and can be applied to the fields of marine environment monitoring, marine disaster monitoring and avoidance, marine military security detection and monitoring, and the like.

Description

A sensor network deployment method for ocean stereo monitoring based on floating cables

technical field

The present invention relates to marine monitoring wireless sensor network technology, in particular to a deployment method of marine monitoring wireless sensor network, in particular to a floating cable-based marine three-dimensional monitoring wireless sensor network deployment method, which can be applied to marine environment monitoring, marine disasters Monitoring and avoidance, marine security detection and surveillance and other fields.

Background technique

Ocean Sensor Networks (OSNs) is a sensor network that deploys Wireless Sensor Networks (WSN) in a complex and variable marine environment to realize real-time monitoring of the marine environment at a small scale and close range. Marine wireless sensor networks generally include surface wireless sensor networks and underwater wireless sensor networks. Surface wireless sensor networks generally use radio for communication and networking, while underwater wireless sensor networks currently mainly use underwater acoustics for communication and networking. Although the ocean sensor network has the most difficult wireless communication channel, for example, its ocean underwater acoustic communication channel has high delay, delay dynamic change, high attenuation, high bit error rate, multipath effect, serious Doppler dispersion, channel height Due to the characteristics of dynamic changes and low bandwidth, but because the ocean sensor network can be deployed in close range and high density for ocean monitoring applications, it can monitor ocean-related information such as wind direction, wave height, tide, water temperature, light, water pollution, and security intrusion. , can truly realize the real-time collection and processing of marine data. In recent years, as countries around the world pay more and more attention to marine rights, they have developed rapidly in the fields of environmental monitoring, structural detection, military surveillance, and disaster avoidance.

However, due to the complex and changeable harsh environment of the ocean, it is not an easy task to deploy a sensor network that can realize monitoring on the ocean, especially the deployment of a three-dimensional ocean monitoring network is particularly difficult. Generally speaking, when deploying a three-dimensional ocean monitoring network, free-floating nodes, autonomous vehicles (AUVs), or fixed deployments can be used. Due to the effect of ocean currents, free-floating nodes will move freely with the ocean currents, and thus eventually lose contact beyond the communication radius, so they are not suitable for deployment situations that require long-term monitoring. However, AUVs are currently expensive, and it is not realistic to deploy a long-term monitoring network. In the past, the fixed deployment method generally adopted a single buoy node deployment method, which could not meet the needs of three-dimensional ocean monitoring. On the other hand, since marine monitoring networks often need to combine surface networks and underwater networks and use different communication methods, how to combine the two networks for effective deployment according to the needs of marine monitoring is also a problem that needs to be studied. In addition, due to the influence of ocean waves, tides, underwater currents, ocean currents, etc., the deployment of a three-dimensional ocean monitoring network needs to be fully considered. For example, the above factors will cause the deployment nodes to move, but if these movements can be used to turn harm into benefit, for The practical application of deploying marine wireless sensor networks is of great significance and is an important research direction in this field at present.

Contents of the invention

The technical problem to be solved by the present invention is to provide a method for deploying a marine sensor network.

In order to solve the above technical problems, the present invention provides a method for deploying a marine three-dimensional sensor network based on floating cables, which is characterized in that:

Deploy several linear composite nodes in the ocean, wherein each linear composite node includes a surface node floating on the sea surface, a plurality of cable underwater nodes fixed on the cable, and a submarine node. The surface node , The underwater node on the cable and the seabed node are connected in series by a cable to form a linear composite node, and the linear composite node is fixed on the seabed through a seabed anchor block;

The linear combination node adopts the low-power communication mode, and the surface node adopts the underwater acoustic communication method to initiate the intra-group node networking, and the submarine node and the cable fixed node adopt a multi-hop method to form a linear multi-hop network with the surface floating nodes;

The water surface nodes adopt high-power communication mode to realize water surface networking, and adjust the monitoring radius to meet the water surface coverage requirements according to the floating characteristics of the water surface;

The underwater nodes on the cable adjust the monitoring radius and communication radius according to the floating characteristics and coverage requirements, so as to realize the three-dimensional coverage monitoring of the underwater network;

Some surface nodes are equipped with GPS positioning devices and long-distance communication devices.

Among them, the surface nodes have two wireless communication methods, the radio communication method is used for communication between the surface nodes, and the underwater acoustic communication method communicates with the underwater nodes on the cable and the submarine nodes.

Further, the linear composite nodes are deployed rectangularly in the sea area, and the length of the cable l=h+h _tide +l _m is determined by the sea depth h, the maximum tide height h _tide and the cable margin l _m , and the length of the cable and the sea Depth to get the maximum floating radius of the water surface node The distance _LAB between adjacent water surface nodes needs to satisfy

And the water surface node selects the appropriate power to realize the water surface networking. According to the floating characteristics of the water surface, adjust the monitoring radius to meet the full coverage requirements of the sea surface. The communication radius and monitoring radius of the water surface node are ComR and SenR respectively. The conditions for achieving full coverage are $\mathrm{Sen\; R}\&Greater\; Equal;\sqrt{2}\sqrt{l^2-h^2}+\frac{\sqrt{2}}{2}{L}_{\mathrm{AB}},$ Right now $2\sqrt{l^2-h^2}<L_{\mathrm{AB}}\&le;\sqrt{2}\mathrm{Sen\; R}-2\sqrt{l^2-h^2}.$

The minimum number of nodes fully covered in the target area is L×W sea area

The above-water and underwater nodes of the linear combination node are located underwater and fully covered underwater. There are N _l nodes deployed on a linear combination node, and the interval between nodes is Δh, then we can get The condition of full underwater coverage of the underwater nodes on the cable is obtained through the node interval Δh. Further, the water surface nodes adopt high-power communication mode to realize water surface networking, and adjust the monitoring radius to meet the water surface coverage requirements according to the floating characteristics of the water surface;

After the monitoring information is fused through the network, it is sent to the end user through the node with the long-distance communication device.

The present invention deploys several linear wireless sensor combination nodes, wherein each linear combination node is fixed together by a plurality of wireless sensor nodes and cables, and the nodes include water surface wireless sensor nodes floating on the sea surface and underwater wireless sensor nodes. It consists of a subsea wireless sensor node fixed together with a subsea anchor block. The wireless sensor nodes floating on the water surface are together with the surface buoys, and some nodes are equipped with GPS positioning devices and long-distance wireless communication methods with satellites. The nodes deployed underwater adopt the underwater acoustic communication method, and the nodes are uniformly fixed on the cable, which connects the seabed anchor block and the surface buoy. According to the ocean floating characteristics of linear combined nodes and the ocean monitoring coverage requirements, the deployment method obtains the optimal number of sea surface coverage nodes and the node monitoring radius conditions required for three-dimensional coverage. The invention can meet the requirement of long-term deployment of marine monitoring, and has low deployment cost and algorithm overhead.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without any creative work.

Fig. 1 is a schematic flow chart of an embodiment of a method for deploying a marine three-dimensional sensor network provided by the present invention;

Fig. 2 is a structural schematic diagram of a linear combination node of the present invention;

Fig. 3 is a schematic diagram of the floating position of the linear combination node in a long time;

Figure 4 is a schematic diagram of the maximum floating radius of the linear combination node for different tide heights and rope length allowances;

Fig. 5 is a schematic diagram of planar deployment of an embodiment;

Fig. 6 is a schematic diagram of a three-dimensional deployment of an embodiment;

Fig. 7 is a schematic diagram of the distance to prevent cable winding between nodes in the embodiment;

Fig. 8 is a schematic diagram of the minimum monitoring radius of sea surface coverage;

Fig. 9 is a schematic diagram of the minimum number of deployed nodes for sea coverage;

Figure 10 is a schematic diagram of the node tour area;

Fig. 11 is a schematic diagram of underwater coverage monitoring radius;

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is a schematic flow diagram of an embodiment of a method for deploying a marine three-dimensional sensor network based on floating cables provided by the present invention. As shown in Fig. 1, the method includes steps:

P1. Deploy several linear composite nodes in the ocean, wherein each linear composite node includes a water surface node floating on the sea surface, a plurality of underwater acoustic sensor nodes fixed on cables connected to the water surface node It consists of subsea nodes deployed and fixed on the seabed, and some surface nodes are equipped with GPS positioning devices and long-distance communication devices.

Referring to FIG. 2 , the linear combined node is composed of a surface node, an underwater node on a cable, and a seabed node, and the cable connects the seabed anchor block and the water surface node. There are two wireless communication methods for surface nodes. The radio communication method is used for communication between surface nodes, and the underwater acoustic communication method communicates with underwater nodes on underwater cables and submarine nodes. The linear combination node has the advantage of combining the underwater network and the surface network, and can make full use of the respective advantages of the two networks. Some surface nodes are equipped with GPS positioning devices and long-distance communication devices. The GPS positioning devices allow the surface nodes to locate their own positions, and the long-distance communication devices can send the deployed network monitoring information to users in real time.

Optionally, surface nodes equipped with GPS positioning devices and long-range communication devices can be equipped with solar cell devices is also an option. Optionally, by selecting a cable that can transmit electric energy, the underwater node can also use the energy on the surface of the water as a backup supplementary power source on the basis of using a battery, which depends on factors such as deployment monitoring time and cost.

The water surface node is fixed on the water surface buoy, and the cable connects the water surface buoy and the underwater anchor block, so that the water surface node can move with the waves within a controllable range. Figure 3 shows a schematic diagram of the long-term floating position of the floating node on the water surface affected by waves and tides after the linear composite node is deployed. Among them, h is the sea depth, l is the rope length, and r is the maximum floating radius. According to the geometric theorem, we can get:

$r=\sqrt{l^2-h^2}$ Formula 1)

Considering that in actual deployment, the length of the cable should have a certain margin to prevent the waves from pulling the cable off. In other cases, additional cable lengths can be used to increase the cruising area of the cable node. Specifically considering the influence of sea depth and tide, the actual cable length is l=h+h _tide +l _m , where h _tide is the maximum tide height, and l _m is the cable allowance.

Figure 4 shows the relationship between the maximum floating radius of the water surface node and the sea depth, tide height and cable margin. The sea depth is set from 20m to 100m, and the tide height and cable margin are combined to set 3 situations. It can be seen from the figure that as the sea depth increases, the maximum floating radius of the node increases accordingly. When the sea depth and the cable margin are fixed, the maximum cruise radius of the node increases correspondingly with the increase of the tide height. In general, sea depth, tide height and cable margin will all affect the maximum cruise radius of the node, but among these factors, sea depth is obviously the most critical factor. It should be pointed out that in actual deployment, the sea depth and tide height will be different in different places. Therefore, the selection of the actual cable length must be fully considered in advance, and these will affect the actual floating position of the floating node on the water surface.

Since the deployment of the network can be spread by artificial ships or aircraft, but like other network deployments, the deployment of the network will affect the networking and working conditions of the network. This embodiment discusses the situation of deployment in a rectangular area as shown in FIG. 5 , and other deployment situations can be expanded and applied according to this embodiment. Rectangular area deployment has the characteristics of simple deployment and easy area coverage. Fig. 5 is a schematic diagram of planar deployment of the embodiment, and Fig. 6 is a schematic diagram of three-dimensional deployment of the embodiment.

When the surface node is deployed, it has the characteristics of controllable movement with the ocean current. In order to prevent the cable from being entangled due to the too close movement of the node after deployment, the specific rectangular deployment distance needs to meet certain conditions. As shown in Figure 7, A, B, C, and D are four adjacently deployed nodes in a rectangle. In order to prevent the cables between the nodes from being entangled, the deployment distance between node A and node B is set to L _AB , which needs to satisfy:

$L_{\mathrm{AB}}>2r=2\sqrt{l^2-h^2}$ Formula (2)

P2. The linear combination node adopts the low-power communication mode, and the surface node adopts the underwater acoustic communication method to initiate the intra-group node networking, and the submarine node and the cable fixed node adopt a multi-hop method to form a linear multi-hop network with the surface floating node. A surface node equipped with a GPS positioning device acquires location information. Nodes equipped with long-distance communication devices establish long-distance communication means. The sea surface node selects the appropriate power to realize the water surface networking, and adjusts the monitoring radius to meet the sea surface coverage requirements according to the floating characteristics of the water surface. Specifically include the following steps:

P21. The linear combination node adopts the low-power communication mode, and the surface node adopts the underwater acoustic communication method to initiate the intra-group node networking, because the surface node has the underwater acoustic communication module, and the cable node and the submarine node have the unique ID physical address of the entire network , and is known before deployment, so using simple networking methods, such as calling and answering methods, the linear combination nodes can be reliably connected wirelessly. Since the linear combination nodes inform their respective ID numbers through wireless communication, the submarine nodes and cable fixed nodes can form a linear multi-hop network with the floating nodes on the water surface in a multi-hop manner. Effectively save node energy consumption and prolong the survival time of the entire network. At present, there have been many studies on multi-hop networks, which will not be repeated in the present invention.

P22. The surface node equipped with GPS positioning device acquires position information. Nodes equipped with long-distance communication devices establish long-distance communication means. Because ocean monitoring applications need to monitor the location information of events, some nodes are equipped with GPS positioning devices to obtain real-time location information of surface nodes. Although surface nodes will drift with ocean currents, they will send out their real-time location information at a specific time. Thus, the submarine nodes can use these water surface positioning information to perform their own positioning. In view of the fact that there have been many studies on underwater positioning, the present invention will not repeat them. Nodes equipped with long-distance communication devices establish long-distance communication channels, so that the monitoring information after the network is established or the long-distance control information for the network can be delivered in time.

P23. The sea surface node selects the appropriate power to realize the water surface networking, and adjusts the monitoring radius to meet the sea surface coverage requirements according to the floating characteristics of the sea surface.

This embodiment adopts a rectangular deployment as shown in Figure 5. Depending on the specific application, there are different requirements for water surface coverage. Generally speaking, it is necessary to achieve full coverage of the area where the nodes are deployed, that is, after an event occurs in the monitoring area, it can Guaranteed to be monitored by at least one node. Full coverage is easily extended to k-coverage by deploying redundant nodes. As shown in Figure 5, if the area formed by deploying two parallel rows of nodes satisfies full coverage, then deploying k+1 rows of nodes can achieve k-coverage.

Full coverage involves the communication radius and monitoring radius of nodes. We set the communication radius and monitoring radius of surface nodes as ComR and SenR respectively, and assume that SenR≤ComR. To simplify the description, we take four adjacent nodes deployed in a rectangle, as shown in Figure 8. It can be proved that if full coverage is to be achieved, as long as:

$\mathrm{Sen\; R}\&Greater\; Equal;\sqrt{2}\sqrt{l^2-h^2}+\frac{\sqrt{2}}{2}{L}_{\mathrm{AB}}$ Formula (3)

Combined use of formula (2) and formula (3) can get the deployment conditions to achieve full coverage:

$2\sqrt{l^2-h^2}<L_{\mathrm{AB}}\&le;\sqrt{2}\mathrm{Sen\; R}-2\sqrt{l^2-h^2}$ Formula (4)

According to the above-mentioned full-coverage deployment conditions, for a determined deployment sea area, the deployment distance of nodes can be controlled according to the above-mentioned conditions, so as to meet the full-coverage deployment conditions. Further optional, for nodes equipped with communication radius and monitoring radius that can be controlled, although additional costs are usually added, field data parameters such as deployment sea depth can be obtained through the configured seabed pressure sensor after deployment, according to the above formula , to determine the appropriate transmission power and monitoring distance, which not only meets the coverage requirements, but also minimizes energy consumption, thereby prolonging the life cycle of the entire network.

Correspondingly, according to the obtained conditions, it is easy to obtain the minimum number of nodes required to deploy a fixed rectangular area. Assuming that the target area where nodes need to be deployed is L×W, the minimum number of nodes N _min required to achieve full coverage can be obtained as:

Formula (5)

Figure 9 shows the minimum number of nodes required to meet full coverage, where the deployment area is 5000m×200m, the water depth is 50m, 70m, and 90m for comparison, and the maximum tide height and rope length allowance are respectively taken as h _tide = 3m,l _m = 3m. It can be seen from the figure that as the monitoring radius increases, the minimum number of nodes required to be deployed will decrease. For the same situation, as the sea depth increases, the minimum number of nodes required for deployment will also increase.

P3. The underwater node adjusts the monitoring radius and communication radius according to the floating characteristics and coverage requirements to realize the three-dimensional coverage monitoring of the underwater network. After the monitoring information is fused through the network, it is sent to the end user through the node with the long-distance communication device.

The marine three-dimensional sensor network based on floating cables not only needs to achieve node coverage on the water surface, but also needs to achieve coverage in underwater monitoring areas according to specific application requirements. Underwater coverage is related to the density of nodes deployed on the cable. For convenience, we assume that the nodes on the cable are evenly deployed, and assuming that N _l nodes are deployed, the interval between nodes is Δh, then we can get The size of Δh will affect the deployment number of underwater nodes on the cable, and can affect the monitoring radius when the underwater nodes need to meet the coverage conditions. Specifically, if Δh becomes smaller, the number of required nodes increases, the monitoring radius can be reduced, and the cost will increase. However, after the network is deployed, the area for close-range patrol monitoring of nodes will increase accordingly. Figure 10 shows the size of the node tour area under different conditions and with different Δh.

Since the coverage problem of underwater monitoring is application-related, we discuss the underwater coverage problem for the intrusion detection application. For other specific applications, similar discussions can be carried out as needed. For intrusion monitoring, there is usually a process of intrusion and intrusion when intruding objects enter the three-dimensional monitoring network. Therefore, for this application, it is only necessary to achieve full coverage of the intrusion and intrusion surfaces. As shown in Figure 11, we take four adjacent nodes deployed on the vertical surface of the water, A, B, C, D, where nodes A and B are deployed on the water, and nodes F and E are their corresponding responses A linear combination of node neighbor nodes. r, r _F are the maximum floating radius of node A and node B and node E and node F respectively. Assuming that the deployment sea depth is h, we can get:

$r_f=\frac{h-\mathrm{\&Delta;h}}{h}\&times;r$ Formula (6)

As shown in Figure 11, the maximum distance between node B and node F is denoted as L _B'F' , we set the communication radius and monitoring radius of underwater nodes as ComRU and SenRU respectively, and assume SenRU≤ComRU, then if we want to achieve Full coverage of the face, as long as:

$\begin{array}{c}\mathrm{SenRu}>\frac{1}{2}{L}_{B^{\&prime;}{f}^{\&prime;}}\\ =\frac{1}{2}\sqrt{{(L_{\mathrm{AB}}+r_f+r)}^2+{\left(\mathrm{\&Delta;h}\right)}^2}\\ =\frac{1}{2}\sqrt{{(L_{\mathrm{AB}}+\frac{2h-\mathrm{\&Delta;h}}{h}\sqrt{l^2-h^2})}^2+{\left(\mathrm{\&Delta;h}\right)}^2}\end{array}$ Formula (7)

The present invention provides a method for deploying a marine three-dimensional wireless sensor network based on floating cables. The cables are fixed together, and the nodes include surface wireless sensor nodes floating on the sea surface, underwater wireless sensor nodes, and submarine wireless sensor nodes fixed together with seabed anchor blocks. The wireless sensor nodes floating on the water surface are together with the surface buoys, and some nodes are equipped with GPS positioning devices and long-distance wireless communication methods with satellites. The nodes deployed underwater adopt the underwater acoustic communication method, and the nodes are uniformly fixed on the cable, which connects the seabed anchor block and the surface buoy. According to the ocean floating characteristics of linear combined nodes and the ocean monitoring coverage requirements, the deployment method obtains the optimal number of sea surface coverage nodes and the node monitoring radius conditions required for three-dimensional coverage. The invention can meet the long-term deployment requirements of marine monitoring, has low deployment cost and algorithm overhead, and high monitoring efficiency, and can be applied to the fields of marine environment monitoring, marine disaster monitoring and avoidance, marine military security detection and monitoring, and the like.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments. In the several embodiments provided in this application, it should be understood that the disclosed method can be implemented in other ways.

Professionals can further realize that the algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software In the above description, the steps of each example have been generally described in terms of functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention. The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1., based on the three-dimensional sensor network disposition method in ocean of floating cable, it is characterized in that:

Some wire combined joints are deployed in ocean, wherein, wire combined joint described in each to comprise on the water surface node swimming in sea, the multiple cables being fixed on cable node and subsea node composition under water, on water surface node, cable, node and subsea node are concatenated into wire combined joint by hawser under water, and wire combined joint is fixed on seabed by seabed anchor block;

Wire combined joint adopts low power communication pattern to adopt the networking of underwater sound communication mode initiation group interior nodes by water surface node, and subsea node and cable stationary nodes adopt multi-hop mode and floating on water node to form wire multihop network;

Described water surface node adopts high power communication pattern to realize water surface networking, and according to floating on water characteristic, adjustment communication radius meets water surface coverage requirement; On described cable, node is according to floatation characteristic and coverage requirement under water, and adjustment monitoring radius and communication radius, realize network solid under water and cover monitoring;

Part water surface node is equipped with GPS positioner and remote-distance communication device.

2. the three-dimensional sensor network disposition method in the ocean based on floating cable according to claim 1, it is characterized in that, water surface node has two kinds of communications, wherein radio communication system is used for the internodal communication of the water surface, and node and subsea node realize communicating underwater sound communication mode under water with on underwater cable.

3. the three-dimensional sensor network disposition method in the ocean based on floating cable according to claim 1, is characterized in that, wire combined joint rectangle in marine site is disposed, by the dark h in sea, maximum tidal height h _tidewith hawser surplus l _mdetermine the length l=h+h of hawser _tide+ l _m, and the maximum floating radius of water surface node is firmly got out by the length of hawser and sea distance L between adjacent water surface node _aBdemand fulfillment

4. the three-dimensional sensor network disposition method in the ocean based on floating cable according to claim 3, it is characterized in that, the power that water surface sensor selection problem is applicable to realizes water surface networking, according to floating on water characteristic, adjustment monitoring radius meets sea all standing requirement, the communication radius of water surface node and monitoring radius are respectively ComR, SenR, realize all standing satisfy condition for $\mathrm{Sen}\&GreaterEqual;\sqrt{2}\sqrt{l^2-h^2}+\frac{\sqrt{2}}{2}{L}_{\mathrm{AB}},$ Namely $2\sqrt{l^2-h^2}<L_{\mathrm{AB}}\&le;\sqrt{2}\mathrm{SenR}-2\sqrt{l^2-h^2}.$

5. the three-dimensional sensor network disposition method in the ocean based on floating cable according to claim 4, is characterized in that, the minimum node number of all standing in the marine site that target area is L × W

6. the three-dimensional sensor network disposition method in the ocean based on floating cable according to claim 1 or 3, it is characterized in that, on the cable of wire combined joint, node is positioned under water under water, carries out all standing under water, and a wire combined joint deploy has N _lindividual node, being then spaced apart Δ h and then can obtaining of node the condition of node all standing under water under water on cable is drawn by node separation Δ h.