Loop auxiliary underwater positioning method without time synchronization

Abstract

The invention discloses a loop auxiliary underwater positioning method without time synchronization. The loop auxiliary underwater positioning method without the time synchronization includes that firstly, each node completes link symmetry detection and acquires the symmetry link length by sending hello information once and sending distance measurement information once, then a water surface anchor node sends self coordinate information once, and completes positioning of a part of nodes by using distance and coordinate information, and the nodes which are positioned also send self coordinate information once, and performs iteration positioning, and finally a loop auxiliary method is adopted for nodes which are not positioned, coordinates and distances of neighbor nodes which are connected through asymmetry links are obtained, and accordingly positioning is completed. The nodes which are positioned can send the self coordinate information once, trigger a new iterative process, and furthermore enlarge a positioning coverage range, and complete the whole positioning process. The loop auxiliary underwater positioning method without the time synchronization can meet positioning requirements high in accuracy and large in coverage range, and effectively eliminates influence of the underwater asymmetry links on the node positioning under the condition that the time synchronization does not exist.

Description

technical field [0001] The invention belongs to the technical field of underwater acoustic communication, and relates to a node positioning method of an underwater acoustic communication sensor network, in particular to a loop-assisted underwater positioning method without time synchronization. Background technique [0002] With the development of human science and technology, land exploitable resources are increasingly scarce, and the development and utilization of underwater resources has become an inevitable trend. Among them, the underwater acoustic communication sensor network is an effective way to explore the underwater world. It has the advantages of wide coverage, accurate and real-time data, and flexible operation. It has broad application prospects in various fields. In the underwater acoustic communication sensor network, the location information of the nodes is very important, and the sensor data combined with the location information has more practical applicat...

AI Technical Summary

Problems solved by technology

The positioning technology based on arrival time difference ranging is difficult to be applied in large-scale underwater networks, which brings limitations to practical applications

The existing positioning technology based on two-way time-of-arrival ranging cannot deal with the ranging problem of underwater asymmetric links, and cannot achieve high positioning coverage

Images