基于射线声学的水下传感网络静默定位算法

The silent location algorithm for underwater sensor network is a time-synchronization free algorithm that can serve multiple users. No sound is needed of the target node in the whole process which make the algorithm secluded and extended. In this paper, a silent location algorithm for underwater sensor network based on ray-tracing technology is proposed. The problem of location blind area in the existing methods is solved by introducing the Gauss-Newton method into the algorithm proposed. In view of the uneven distribution of sound velocity in water, the ray-tracing technology is integrated into the iterative process to correct the positioning error caused by the bending of the sound ray. At the same time, considering the situation that the beacon node array may not be good in the practical application, an improved Tikhonov regularization method is adopted to control the regularization parameters according to the feedback of the iterative effect, which can compensate the influence of the singular Jacobian matrix on the objective function. The effectiveness of the proposed algorithm in this paper is verified by simulation analysis.