Method for positioning nodes of underwater sensor network

Abstract

The invention discloses a method for positioning nodes of an underwater sensor network. The method comprise the following steps: a) establishing a space rectangular coordinate system; b) establishing a moving anchor node which moves along an isometric helical line; c) broadcasting anchor node coordinate information; d) receiving the coordinate information; e) judging whether the positions are determined; f) judging whether four pieces of coordinate information are received; g) judging whether the four anchor node coordinates are collinear; h) calculating the positions. According to the method for positioning the nodes of the underwater sensor network, a sensor node can determine the coordinate of self according to the four received collinear anchor node coordinates, so that the difficulty in deploying anchor nodes of the underwater sensor network is solved, and the network deployment cost is lowered at the same time; as position information of four non-collinear anchor nodes is adopted for positioning, the method complexity is reduced, and the method is easy to realize; according to characteristics of underwater deployment of the nodes, the search space of a particle group is limited, and the positioning method efficiency is improved.

Description

Technical field [0001] The present invention relates to a node positioning method of an underwater sensor network, and more specifically, to a water in which an anchor node makes a spiral motion on the water surface and the sensor node performs position calculation according to the received coordinates of four non-collinear anchor nodes. The node location method of lower sensor network. Background technique [0002] In recent years, with the rise of the marine economy and the increasing attention of various countries to maritime rights and interests, underwater sensor networks have made rapid progress. Now it has been widely used in marine observation, resource exploration and development, disaster forecasting, pollution detection, military exploration and many other civilian applications. And the military field. Node location technology is one of the key technologies of underwater sensor networks. In most applications, it is necessary to quickly and effectively locate the loca...

AI Technical Summary

Problems solved by technology

[0004] 1. The coplanarity of the anchor nodes causes a large positioning error or some methods cannot be positioned, which cannot meet the actual application requirements;

[0005] 2. The system needs to deploy a large number of super nodes with high energy consumption, resulting in excessive communication overhead and shortening the network life cycle

[0006] 3. The three-dimensional positioning is transformed into two-dimensional positioning through mapping, and the easy-to-measure depth information is not fully utilized, which reduces the positioning accuracy

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