Safe locating method for underwater sensor network
A wireless sensor and network technology, applied in positioning, safety devices, instruments, etc., can solve the problems of inability to transplant wireless sensor network positioning systems and security mechanisms, and insufficient research on underwater sensor network positioning systems.
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[0010] The present invention is divided into two modules of trust management and positioning, which mainly include processes such as obtaining trust elements, generating trust entries, obtaining trusted anchor node sets, and node positioning.
[0011] The realization steps of the present invention are:
[0012] Step 1: Obtain trust elements
[0013] Assuming that the anchor node i knows the coordinates (x, y), listen to the coordinates (x', y') sent by the anchor node j, calculate the coordinate distance according to the coordinates, and calculate the measurement distance d=T according to the ToA (Time of Arrival) ranging technology ×v, T is the transmission delay, v is the underwater sound wave velocity, and the distance between the two calculation results is defined
[0014] | ( x - x ′ ) 2 ...
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