Research On Self-localizaiton Algorithm For Underwater Sensor Network Under Ray Compensations

In recent years,marine technology research has received widespread attention,and "building a maritime power" has become an important strategic goal for China.Therefore,the research on the Underwater Sensor Networks(UWSNs)for marine observations has very important practical significance for safeguarding the national marine rights.Among them,the underwater sensor node localization technology is an important subject in the application research of underwater acoustic sensor networks.However,the uncertainty of the underwater environment,propagation delay,asynchronous clock,passive movement,and high energy consumption make the positioning of underwater sensor network nodes more challenging.This paper first studies the propagation path of signals from underwater nodes,and then achieves accurate positioning by solving the problem of clock asynchronous and passive movement.The main research work of this paper is as follows:1?Aiming at the problem of asynchronous clocks between nodes in the underwater sensor network,an interaction model between nodes is designed,and the equation of the time difference relationship is built.Finally,the least square algorithm is used to accurately locate the underwater sensor nodes,Using Sniere's law of refraction to compensate the transmission delay between nodes,further improving the positioning accuracy of underwater sensor nodes.2?Aiming at the problem of clock synchronization in underwater sensor networks,the influence of the clock skew and clock offset between the node to be located and the auxiliary node on the positioning of the underwater sensor node is considered.Sensor node positioning.For the proposed algorithm,the validity of the algorithm is verified by Cramero bound.3?Aiming at the problem that the underwater sensor node is passively moved by the action of water flow,and considering the current flow characteristics of the current positioning environment,a velocity inversion algorithm is designed to estimate the current flow parameters of the current flow field and further determine the current state of the node's movement.And considering that all nodes are asynchronous,the iterative least squares algorithm is used to solve the positioning results,and the validity of the positioning results,the complexity,lower bound and uncertainty of the iterative least squares algorithm are all proved.