非合作信标条件下水下无线传感网可靠定位技术

It is assumed that all sensor and anchor nodes are cooperative in traditional researches of underwater wireless sensor networks. However,in some particular situations such as military applications,partial anchor nodes are easy to be captured or invaded by the enemy,so there may be some malicious anchor nodes in underwater wireless sensor networks sometimes. Aiming at localization applications of underwater wireless sensor networks with non-cooperative anchor nodes,this paper proposes a robust localization method for underwater wireless sensor networks in the presence of a few non-cooperative anchor nodes. The proposed algorithm uses a distributed self-voting mechanism of anchor nodes within one-hop neighborhood to detect and eliminate non-cooperative anchors,so as to reduce the impact of malicious anchor nodes on positioning accuracy. Meanwhile,localization error bounds under different proportions of non-cooperative anchors are also analyzed in this paper. Simulation results verify that the proposed algorithm improves average positioning accuracy and localization coverage ratio compared with the traditional positioning algorithm.