摘要
如何在稀疏部署的水下传感器网络中实现传感器节点的高效定位是一个研究热点。提出了一种基于多个移动AUV协作的水下传感器网络内节点定位机制,利用AUV的精确自导航功能实现对网内未知位置节点的定位协助。提出的协作定位算法扩展了水下传感器网络的网内节点位置迭代估计方法,将信标节点和多AUV联合作为定位参考点,然后推导了基于最小二乘法的定位估计方程。仿真结果验证了该方法可以在定位节点比例、归一化定位误差和平均置信度等几个方面提高定位性能。
Efficient localization of underwater sensor networks with sparse deployment sensor nodes is still an active topic for researchers. One cooperative localization mechanism for 3D underwater sensor networks is proposed,which derives greater benefit from accurate position ability of multiple AUVs to help un-localized sensor nodes to be localized. The proposed cooperative mechanism introduces a recursive localization estimation method using anchor nodes and mobile AUVs together,and then deduces Least Square based position estimation equation in 2D horizontal plane projected from 3D region. Simulation results verify that the proposed cooperative localization algorithm can improve localization efficiency in terms of localization coverage ratio,normalization localization error and average confidence factor.
出处
《传感技术学报》
CAS
CSCD
北大核心
2017年第8期1274-1280,共7页
Chinese Journal of Sensors and Actuators
基金
浙江省自然科学基金项目(LY16F030004
LY15F030018)
国家自然科学基金项目(6170060208)
关键词
水下传感器网络
协作定位
迭代定位
多AUV
underwater sensor networks
cooperative localization
iterative localization
Multiple AUVs
