CN110166934B - Mobile underwater acoustic network self-positioning method based on dynamic reference node selection - Google Patents

Mobile underwater acoustic network self-positioning method based on dynamic reference node selection Download PDF

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CN110166934B
CN110166934B CN201910423140.2A CN201910423140A CN110166934B CN 110166934 B CN110166934 B CN 110166934B CN 201910423140 A CN201910423140 A CN 201910423140A CN 110166934 B CN110166934 B CN 110166934B
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CN110166934A (en
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高婧洁
花飞
梅毫迪
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Changan University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract

The invention relates to a mobile underwater acoustic network self-positioning method based on dynamic reference node selection, which can assist an anchor node to complete the whole self-positioning process by dynamically selecting a reference node in common nodes, so that the common nodes with unknown positions can communicate with the anchor node or the dynamically selected reference node to further calculate the position information of the common nodes, and the mobile underwater acoustic network self-positioning based on a small number of anchor nodes is completed. The anchor node requirement in the self-positioning of the mobile underwater acoustic network is effectively reduced; and the selection of the network reference nodes is dynamically updated through a dynamic reference node selection mechanism so as to optimize the topological structure between the anchor nodes and the reference nodes in the mobile underwater acoustic network and improve the self-positioning precision of the mobile underwater acoustic network under a small number of anchor nodes.

Description

Mobile underwater acoustic network self-positioning method based on dynamic reference node selection
Technical Field
The invention belongs to the technical field of underwater acoustic communication and underwater acoustic networks, and particularly relates to a self-positioning method for a mobile underwater acoustic network.
Background
The self-positioning of the network node is one of the support technologies of the underwater acoustic network, can be used for identifying the position of a monitoring data source, realizing a routing protocol based on the node position, realizing a data storage technology based on the geographic position and the like, and plays an extremely important role in various aspects such as ocean engineering construction, ocean resource development, national ocean equity maintenance and the like.
The anchor node refers to a node with known position coordinates in the network, and the unknown node can directly or indirectly perform information interaction with the anchor node to further calculate the position of the unknown node. Due to the problems of low communication rate, narrow bandwidth, limited node energy, serious attenuation of GPS signals under water and the like of the underwater acoustic network, a self-positioning method similar to a land network cannot be adopted, a large amount of anchor node position information can be obtained by directly using the GPS signals, and then accurate self-positioning of nodes in the network can be realized according to information interaction with a large amount of anchor nodes. Due to the influence of ocean currents, wind waves and the like, nodes in the underwater acoustic network are not static generally, but generate certain drift motion along with the ocean currents, and the drift motion further increases the difficulty of self-positioning of the nodes of the underwater acoustic network. Therefore, a self-positioning method of the mobile underwater acoustic network based on dynamic reference node selection is researched aiming at the mobile underwater acoustic network with the nodes having motion characteristics and only a small number of anchor nodes in the network, so that the network can obtain dynamic position information with high precision under the small number of anchor nodes, and the method has important significance.
Existing self-positioning methods for mobile networks are mainly classified into two types: the first method adopts an inertial navigation system to realize the self-positioning of the mobile nodes, and the method installs the inertial navigation system on each mobile node, and utilizes the inertial navigation system to calculate the speed and the acceleration of the node in real time, further calculates the position of the moving node and realizes the network self-positioning. The method is simple and convenient to calculate, but can bring error accumulation and reduce positioning accuracy. According to the characteristics of the underwater acoustic network, in order to solve the problem of error accumulation in the first method, some methods enable the nodes to float on the water surface at regular time to receive GPS signals so as to correct errors, the method can effectively reduce the error accumulation, but the nodes float on the water surface at regular time, which causes great energy consumption. The second method adopts cooperative positioning, wherein part of nodes are provided with sensor devices for receiving accurate position information to become anchor nodes, and the rest nodes update the position state of the nodes in real time by carrying out information interaction with the anchor nodes. One of the methods is a cooperative mobile network positioning method based on distance, and the method adopts filter algorithms such as KF (Kalman Filter), EKF (extended Kalman Filter) and the like to realize node state estimation and prediction according to the distance between a common node and an anchor node; and the other method adopts a cooperative mobile network positioning method not based on distance, wherein the MCL (Monte Carlo localization) and MCB (Monte Carlo localization Box) method divides the time into a plurality of time windows, the coverage area of the communication range of one hop of anchor node is calculated in each time window, and the self-positioning of the mobile network node is realized by sampling and filtering in the coverage area. An IMCL (improved Monte Carlo Localization) method subdivides a sampling area to improve the effectiveness of a sample, an HBAL (A structural-beach-Aided Localization) method only realizes the state estimation of nodes according to the Historical information and the received energy of anchor nodes, and an SLMP (scalable Localization with Mobility Prediction for lower water Sensor networks) adopts a linear Prediction method to predict and estimate the position of a large-range network. The cooperative mobile network positioning method needs a large amount of communication overhead and a certain number of anchor nodes to ensure the self-positioning precision of the network nodes, and cannot be directly applied to a mobile underwater acoustic network under a small number of anchor nodes.
Therefore, the key point of the invention is to research a mobile underwater acoustic network self-positioning method based on dynamic reference node selection aiming at a mobile underwater acoustic network under a small number of anchor nodes, so that the network can obtain the dynamic position information of the mobile node under a small number of anchor nodes with high precision.
Disclosure of Invention
Technical problem to be solved
Aiming at solving the problems of large number of anchor nodes and low positioning precision in the prior art, the invention provides a mobile underwater acoustic network self-positioning method based on dynamic reference node selection aiming at a mobile underwater acoustic network under a small number of anchor nodes, and the network self-positioning precision under the condition of a small number of anchor nodes is improved.
Technical scheme
A self-positioning method of a mobile underwater acoustic network based on dynamic reference node selection is disclosed, wherein the mobile underwater acoustic network consists of 3 anchor nodes and a plurality of common nodes, and the nodes in the network are communicated uniformly and can be reached in a jumping mode, wherein the anchor nodes are nodes which are fixedly arranged under water and have known absolute position information, and the anchor nodes do not drift along with ocean currents; the common nodes are nodes with unknown position information, are freely distributed in water and can generate drift motion; the method is characterized by comprising the following steps:
step 1: sequentially arranging anchor nodes and common nodes under water, wherein 3 anchor nodes enter water firstly, the common nodes enter water later, and the positions of the anchor nodes are fixed and known; allocating an ID number to each node according to the sequence of the water entry time of each node, wherein the ID number is labeled from 1;
step 2: the anchor node sequentially sends Hello grouping information according to the order of the ID from small to large, wherein the Hello grouping information comprises the type of the grouping, the ID of the node sending the Hello grouping, the type of the node sending the Hello grouping, the time of sending the Hello grouping and the coordinate information of the anchor node;
and step 3: after all anchor node information is sent, if the common node with the ID j is at tjAt the moment, all the Hello packets sent by the anchor nodes can be received at the same time, and the common node j can calculate at t according to the formula (1)jDistance between the common node j and the anchor node i at the moment:
Figure BDA0002066645030000031
wherein,
Figure BDA0002066645030000032
indicates that the common node j is at tjThe distance between the time and the anchor node i; t is tjIndicating the moment when the common node j receives the information from the anchor node i; t is tiIndicating the time when the anchor node i sends the Hello packet information; c represents the speed of sound in water;
and 4, step 4: the common node j calculates the distance information between the common node j and all anchor nodes according to the formula (1)
Figure BDA0002066645030000033
And sends the distance information to the anchor node 1; similar to the common node j, all the other common nodes which can receive the information sent by the 3 anchor nodes simultaneously send the distance information between the common nodes and the anchor nodes to the anchor node 1;
and 5: forming a set N by all common nodes for sending the distance information in the step 4rThe anchor node 1 receives all the distance information
Figure BDA0002066645030000034
Selecting the common node with the maximum distance from the three anchor nodes as the initial reference node, namely
Figure BDA0002066645030000035
Step 6: anchor node 1 is based on 3 anchor node coordinates (x)1,y1,z1),(x2,y2,z2),(x3,y3,z3) And the position of the selected initial reference node, and constructing a reference coordinate system; wherein the anchor node 1 is the origin of coordinates, the connecting line of the anchor node 1 and the anchor node 2 forms the x axis of the reference coordinate system, the anchor node 3 is positioned on the x-y plane, and the coordinates are positive; the z-axis of the initial reference node is positive;
relative coordinates of 3 fixed anchor nodes in reference coordinate system
Figure BDA0002066645030000041
Are respectively as
Figure BDA0002066645030000042
Wherein,
Figure BDA0002066645030000043
Figure BDA0002066645030000044
l12,l13,l23respectively, the distance between three anchor nodes, theta is l12And l13The included angle therebetween;
and 7: anchor node 1 coordinates the relative coordinates of three anchor nodes
Figure BDA0002066645030000045
The ID of the initial reference node and the sending time of the information are broadcasted to the whole network;
and 8: assuming node p as the initial reference node, it is similar toStep 3, the node p calculates the node t according to the formula (1) and all anchor nodespDistance information of time of day
Figure BDA0002066645030000046
Then calculating the initial value of the position coordinate according to the formula (3)
Figure BDA0002066645030000047
Figure BDA0002066645030000048
And step 9: according to the initial coordinate value in step 8, the initial reference node p predicts and updates the position and the speed of the next time point according to the formula (4)
Figure BDA0002066645030000049
Figure BDA0002066645030000051
Wherein,
Figure BDA0002066645030000052
is tpA position matrix consisting of node coordinates and speed at the moment:
Figure BDA0002066645030000053
Figure BDA0002066645030000054
t is an observation period
Figure BDA0002066645030000055
And
Figure BDA0002066645030000056
are respectively shown at tpMeasuring distance and real distance between the time anchor node and the reference node p;
Figure BDA0002066645030000057
and
Figure BDA0002066645030000058
measuring error;
step 10: the initial reference node p broadcasts the position coordinates obtained by calculation in the step 9 to the whole network;
step 11: the other common nodes to be positioned firstly calculate the distance information between the anchor node and the reference node p according to the formula (1); secondly, similarly to step 9, the common node to be positioned predicts and estimates the mobile coordinate of the common node according to the formula (5), and sends the coordinate to the anchor node 1:
Figure BDA0002066645030000059
wherein, similar to the formula (4),
Figure BDA00020666450300000510
represents tkA position matrix consisting of ordinary node coordinates with time ID k and speed,
Figure BDA00020666450300000511
and
Figure BDA00020666450300000512
when n is 4, the distance between the reference node and the reference node is represented as a measurement error;
step 12: after receiving the coordinate information sent by all the common nodes to be positioned in the step 11, the anchor node 1 constructs a dynamic position topology of the mobile network;
step 13: when the anchor node 1 is according to the network dynamic topology, at a certain time tqWhen the sum of the distances from the common node q to the three fixed anchor nodes is greater than the initial reference node, namely
Figure BDA00020666450300000513
When the network reference node is updated to the node q from the node p by the anchor node 1, and the new reference is sentBroadcasting the node ID to the whole network;
step 14: and (6) repeating the steps from 8 to 13 until all the nodes in the mobile underwater acoustic network obtain the self dynamic position coordinates within the self-positioning time, and finishing the self-positioning of the network.
Advantageous effects
The mobile underwater sound network self-positioning method based on dynamic reference node selection effectively reduces the requirement of anchor nodes in the mobile underwater sound network self-positioning; and the selection of the network reference nodes is dynamically updated through a dynamic reference node selection mechanism so as to optimize the topological structure between the anchor nodes and the reference nodes in the mobile underwater acoustic network and improve the self-positioning precision of the mobile underwater acoustic network under a small number of anchor nodes.
Drawings
FIG. 1 is a flow chart of the algorithm of the present invention
FIG. 2 is a schematic diagram of a network reference coordinate system according to the present invention
FIG. 3 is a graph of simulated node distribution according to the present invention
FIG. 4 is a graph of the self-positioning error comparison of the present invention
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the mobile underwater sound network in the method is a three-dimensional network randomly distributed in any water area. The network consists of 3 anchor nodes and a plurality of common nodes, and uniform hop of communication among the nodes in the network is assumed to be reachable. The anchor nodes are fixedly arranged under water and have known absolute position information, and do not drift along with ocean current; the common nodes are nodes with unknown position information, are freely distributed in water and generate drifting motion along with ocean currents, storms and the like. Because only three anchor nodes are stored in the network and are not enough to realize the node self-positioning of the three-dimensional mobile underwater acoustic network, the method can assist the anchor nodes to finish the whole self-positioning process by dynamically selecting the reference nodes from the common nodes, so that the common nodes with unknown positions can communicate with the anchor nodes or the dynamically selected reference nodes to further calculate the position information of the common nodes, and the mobile underwater acoustic network self-positioning based on a small number of anchor nodes is finished. The method can effectively reduce the requirement of the anchor nodes in the self-positioning of the mobile underwater acoustic network, and improves the self-positioning precision of the mobile underwater acoustic network under a small number of anchor nodes through a dynamic reference node selection mechanism.
According to the distance information between the common nodes and the anchor nodes, the reference nodes are dynamically selected from the common nodes to assist the anchor nodes to realize the self-positioning of the mobile underwater acoustic network; by dynamically selecting the reference nodes, the topological structure between the anchor nodes and the reference nodes in the mobile underwater sound network is dynamically optimized, and the self-positioning precision of the mobile underwater sound network under a small number of anchor nodes is improved. The flow chart of the invention is shown in the attached figure 1, and the specific steps are as follows:
step 1: and sequentially arranging anchor nodes and common nodes under water, wherein 3 anchor nodes enter water firstly, the common nodes enter water later, and the positions of the anchor nodes are fixed and known. And (3) allocating an ID number to each node according to the sequence of the water entry time of each node, wherein the ID number is marked from 1.
Step 2: the anchor node sequentially sends Hello grouping information according to the order of the ID from small to large, wherein the Hello grouping information comprises the type of the grouping, the ID of the node sending the Hello grouping, the type of the node sending the Hello grouping, the time of sending the Hello grouping and the coordinate information of the anchor node;
and step 3: after all anchor node information is sent, if the common node with the ID j is at tjAt the moment, all the Hello packets sent by the anchor nodes can be received at the same time, and the common node j can calculate at t according to the formula (1)jThe distance between the ordinary node j and the anchor node i at the moment.
Figure BDA0002066645030000071
Wherein,
Figure BDA0002066645030000072
indicates that the common node j is at tjThe distance between the time and the anchor node i; t is tjIndicating the moment when the common node j receives the information from the anchor node i; t is tiIndicating that anchor node i sends Hello packet informationThe time of day; c represents the speed of sound in water.
And 4, step 4: the common node j calculates the distance information between the common node j and all anchor nodes according to the formula (1)
Figure BDA0002066645030000073
And transmits the distance information to the anchor node 1. Similar to the common node j, all the other common nodes which can receive the information sent by the 3 anchor nodes simultaneously send the distance information between the common nodes and the anchor nodes to the anchor node 1;
and 5: forming a set N by all common nodes for sending the distance information in the step 4rThe anchor node 1 receives all the distance information
Figure BDA0002066645030000074
Selecting the common node with the maximum distance from the three anchor nodes as the initial reference node, namely
Figure BDA0002066645030000075
Step 6: anchor node 1 is based on 3 anchor node coordinates (x)1,y1,z1),(x2,y2,z2),(x3,y3,z3) And the position of the selected initial reference node, a reference coordinate system is constructed, as shown in fig. 2. Wherein the anchor node 1 is the origin of coordinates; the connecting line of the anchor node 1 and the anchor node 2 forms an x-axis of a reference coordinate system, and the anchor node 3 is positioned on an x-y plane and has a positive coordinate; the z-axis of the initial reference node is positive.
Relative coordinates of 3 fixed anchor nodes in reference coordinate system
Figure BDA0002066645030000081
Are respectively as
Figure BDA0002066645030000082
Wherein,
Figure BDA0002066645030000083
Figure BDA0002066645030000084
l12,l13,l23respectively, the distance between three anchor nodes, theta is l12And l13The included angle therebetween.
And 7: anchor node 1 coordinates the relative coordinates of three anchor nodes
Figure BDA0002066645030000085
The initial reference node ID and the transmission time of the information are broadcast to the whole network.
And 8: assuming node p is the initial reference node, then node p calculates the initial reference node t from equation (1) and all anchor nodespDistance information of time of day
Figure BDA0002066645030000086
Then calculating the initial value of the position coordinate according to the formula (3)
Figure BDA0002066645030000087
Figure BDA0002066645030000088
And step 9: according to the initial coordinate value in step 8, the initial reference node p predicts and updates the position and the speed of the next time point according to the formula (4)
Figure BDA0002066645030000089
Figure BDA00020666450300000810
Wherein,
Figure BDA0002066645030000091
is tpSit by the node at any timeThe position matrix formed by the target and the speed,
Figure BDA0002066645030000092
Figure BDA0002066645030000093
t is an observation period
Figure BDA0002066645030000094
And
Figure BDA0002066645030000095
are respectively shown at tpMeasuring distance and real distance between the time anchor node and the reference node p;
Figure BDA0002066645030000096
and
Figure BDA0002066645030000097
is a measurement error.
Step 10: and the initial reference node p broadcasts the position coordinates calculated in the step 9 to the whole network.
Step 11: the other common nodes to be positioned firstly calculate the distance information between the anchor node and the reference node p according to the formula (1); and secondly, similarly to the step 9, the common node to be positioned predicts and estimates the mobile coordinate of the common node per se according to the formula (5), and sends the coordinate to the anchor node 1.
Figure BDA0002066645030000098
Wherein, similar to the formula (4),
Figure BDA0002066645030000099
represents tkA position matrix consisting of ordinary node coordinates with time ID k and speed,
Figure BDA00020666450300000910
and
Figure BDA00020666450300000911
for the measurement error, the distance between the reference node and n is 4.
Step 12: and (4) after the anchor node 1 receives the coordinate information sent by all the common nodes to be positioned in the step (11), constructing a dynamic position topology of the mobile network.
Step 13: when the anchor node 1 is according to the network dynamic topology, at a certain time tqWhen the sum of the distances from the common node q to the three fixed anchor nodes is greater than the initial reference node, namely
Figure BDA00020666450300000912
And if so, the anchor node 1 updates the network reference node from the node p to the node q and broadcasts the new reference node ID to the whole network.
Step 14: and (6) repeating the steps from 8 to 13 until all the nodes in the mobile underwater acoustic network obtain the self dynamic position coordinates within the self-positioning time, and finishing the self-positioning of the network.
The positioning accuracy of the invention is simulated by using Matlab, and 30 nodes are randomly distributed in a region of 1000m × 1000m, and the initial distribution diagram of the nodes is shown in fig. 3, wherein ×, denotes anchor nodes, · denotes normal nodes.
Figure BDA0002066645030000101
Calculating the network node positioning error of the present invention, wherein (x)i,yi,zi) Is the real coordinates of the node point or points,
Figure BDA0002066645030000102
for the coordinates calculated by the invention, n is the number of common nodes in the network. The positioning error simulation results are shown in fig. 4. In fig. 4, the number of anchor nodes in the network is 3, and the mean square error of the ranging error between nodes is increased from 0.5% d to 2.5% d, where d is the measured distance between nodes. As can be seen from fig. 4, the self-positioning error of the network increases with the increase of the ranging error; the invention and the non-dynamic reference node adopt the same simulation conditionsCompared with a self-positioning method with point selection, the self-positioning method provided by the invention has higher positioning accuracy than a self-positioning method without dynamic reference node selection, and the self-positioning algorithm provided by the invention can realize high-accuracy self-positioning of a mobile underwater acoustic network under a small number of anchor nodes.

Claims (1)

1. A self-positioning method of a mobile underwater acoustic network based on dynamic reference node selection is disclosed, wherein the mobile underwater acoustic network consists of 3 anchor nodes and a plurality of common nodes, and the nodes in the network are communicated uniformly and can be reached in a jumping mode, wherein the anchor nodes are nodes which are fixedly arranged under water and have known absolute position information, and the anchor nodes do not drift along with ocean currents; the common nodes are nodes with unknown position information, are freely distributed in water and can generate drift motion; the method is characterized by comprising the following steps:
step 1: sequentially arranging anchor nodes and common nodes under water, wherein 3 anchor nodes enter water firstly, the common nodes enter water later, and the positions of the anchor nodes are fixed and known; allocating an ID number to each node according to the sequence of the water entry time of each node, wherein the ID number is labeled from 1;
step 2: the anchor node sequentially sends Hello grouping information according to the order of the ID from small to large, wherein the Hello grouping information comprises the type of the grouping, the ID of the node sending the Hello grouping, the type of the node sending the Hello grouping, the time of sending the Hello grouping and the coordinate information of the anchor node;
and step 3: after all anchor node information is sent, if the common node with the ID j is at tjAt the moment, all the Hello packets sent by the anchor nodes can be received at the same time, and the common node j can calculate at t according to the formula (1)jDistance between the common node j and the anchor node i at the moment:
Figure FDA0002066645020000011
wherein,
Figure FDA0002066645020000012
representing a common nodej at tjThe distance between the time and the anchor node i; t is tjIndicating the moment when the common node j receives the information from the anchor node i; t is tiIndicating the time when the anchor node i sends the Hello packet information; c represents the speed of sound in water;
and 4, step 4: the common node j calculates the distance information between the common node j and all anchor nodes according to the formula (1)
Figure FDA0002066645020000013
And sends the distance information to the anchor node 1; similar to the common node j, all the other common nodes which can receive the information sent by the 3 anchor nodes simultaneously send the distance information between the common nodes and the anchor nodes to the anchor node 1;
and 5: forming a set N by all common nodes for sending the distance information in the step 4rThe anchor node 1 receives all the distance information
Figure FDA0002066645020000014
Selecting the common node with the maximum distance from the three anchor nodes as the initial reference node, namely
Figure FDA0002066645020000021
Step 6: anchor node 1 is based on 3 anchor node coordinates (x)1,y1,z1),(x2,y2,z2),(x3,y3,z3) And the position of the selected initial reference node, and constructing a reference coordinate system; wherein the anchor node 1 is the origin of coordinates, the connecting line of the anchor node 1 and the anchor node 2 forms the x axis of the reference coordinate system, the anchor node 3 is positioned on the x-y plane, and the coordinates are positive; the z-axis of the initial reference node is positive;
relative coordinates of 3 fixed anchor nodes in reference coordinate system
Figure FDA0002066645020000022
Are respectively as
Figure FDA0002066645020000023
Wherein,
Figure FDA0002066645020000024
Figure FDA0002066645020000025
l12,l13,l23respectively, the distance between three anchor nodes, theta is l12And l13The included angle therebetween;
and 7: anchor node 1 coordinates the relative coordinates of three anchor nodes
Figure FDA0002066645020000026
The ID of the initial reference node and the sending time of the information are broadcasted to the whole network;
and 8: assuming node p is the initial reference node, then node p calculates the initial reference node t from equation (1) and all anchor nodespDistance information of time of day
Figure FDA0002066645020000027
Then calculating the initial value of the position coordinate according to the formula (3)
Figure FDA0002066645020000028
Figure FDA0002066645020000029
And step 9: according to the initial coordinate value in step 8, the initial reference node p predicts and updates the position and the speed of the next time point according to the formula (4)
Figure FDA0002066645020000031
Figure FDA0002066645020000032
Wherein,
Figure FDA0002066645020000033
is tpA position matrix consisting of node coordinates and speed at the moment:
Figure FDA0002066645020000034
Figure FDA0002066645020000035
t is an observation period
Figure FDA0002066645020000036
And
Figure FDA0002066645020000037
are respectively shown at tpMeasuring distance and real distance between the time anchor node and the reference node p;
Figure FDA0002066645020000038
and
Figure FDA0002066645020000039
measuring error;
step 10: the initial reference node p broadcasts the position coordinates obtained by calculation in the step 9 to the whole network;
step 11: the other common nodes to be positioned firstly calculate the distance information between the anchor node and the reference node p according to the formula (1); secondly, similarly to step 9, the common node to be positioned predicts and estimates the mobile coordinate of the common node according to the formula (5), and sends the coordinate to the anchor node 1:
Figure FDA00020666450200000310
wherein, similar to the formula (4),
Figure FDA00020666450200000311
represents tkA position matrix consisting of ordinary node coordinates with time ID k and speed,
Figure FDA00020666450200000312
and
Figure FDA00020666450200000313
when n is 4, the distance between the reference node and the reference node is represented as a measurement error;
step 12: after receiving the coordinate information sent by all the common nodes to be positioned in the step 11, the anchor node 1 constructs a dynamic position topology of the mobile network;
step 13: when the anchor node 1 is according to the network dynamic topology, at a certain time tqWhen the sum of the distances from the common node q to the three fixed anchor nodes is greater than the initial reference node, namely
Figure FDA00020666450200000314
If so, the anchor node 1 updates the network reference node from the node p to the node q and broadcasts the new reference node ID to the whole network;
step 14: and (6) repeating the steps from 8 to 13 until all the nodes in the mobile underwater acoustic network obtain the self dynamic position coordinates within the self-positioning time, and finishing the self-positioning of the network.
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