地表土壤探测及传感器优化布设 Terrain Soil Sensing and Optimal Deployment of Sensors

复杂多变的越野环境对车辆行进的机动性、灵活性具有重要影响，为提高越野车辆机动性必须对地形、坡度、土壤类型、水分、植被等地表土壤属性进行探测。本文首先对最新涌现的探测技术进行分析比较，发现在地表原位布设轻量级的传感器节点可以快速准确全面地监测土壤属性。据此我们提出了土壤传感器节点的优化布设方案，仿真结果表明该方案既保证了监测区域的覆盖率又提高了节点自身的定位精度，具有实际的应用价值。 Complex and changeable off-road environment influences the mobility and flexibility of vehicle a lot. To improve mobility of off-road vehicles, the terrain conditions including slops, soil types, moisture content and vegetative cover must be sensed. In this paper, the state-of-the-art sensing techniques are analyzed and compared firstly, the comparison results show that by deploying light weight sensors in situ soil, the soil properties can be monitored quickly and precisely. Based on this, an optimal soil sensor deployment method is proposed. Simulation results show that this method not only guarantees the coverage ratio of sensing area but also improves localization precision of sensors, which possesses practical value of application.