王磊, 刘利利, 齐俊艳, 等.基于高斯滤波的三维水声无线传感网络节点定位算法[J].河南理工大学学报（自然科学版）,2021,40(4):147-153.

WANG L, LIU L L, QI J Y, et al.Node location algorithm for 3D underwater acoustic wireless sensor network based on Gaussian filter[J].Journal of Henan Polytechnic University(Natural Science) ,2021,40(4):147-153.

基于高斯滤波的三维水声无线传感网络节点定位算法

王磊, 刘利利, 齐俊艳, 宋成

河南理工大学 计算机科学与技术学院，河南 焦作454000

摘要:针对水下环境中因各类干扰源导致的三维水声无线传感网络节点定位精度偏低问题，提出一种基于高斯滤波和拟牛顿法改进的三维水声无线传感网络节点定位方法。该方法基于水下声信号传输损耗（acoustic signal transmission loss ， ASTL）模型，首先对传输损耗值（transmission loss ，TL）进行采样，其次进行高斯滤波处理，并将处理后的数据代入改进后的测距模型进行距离估计，最后结合多边定位方法，得到最小二乘解即未知节点的估计坐标。将位置方程组求解结果代入拟牛顿算法进行最优值逼近，得到接近实际值的解。仿真结果表明：该方法降低了节点测距的误差，测距结果优于传统测距方法以及基于PF、RF和KF等滤波的测距方法；在定位精度上，与ASTL-GWO、ASTL-SAPSO和ASTL-RQ-PSO定位算法相比，分别提高了约 49% ，31% 和 9%。

关键词:三维水声;无线传感网络;水声传输损耗模型;高斯滤波;拟牛顿法

doi:10.16186/j.cnki.1673-9787.2020020013

基金项目:河南省科技攻关项目（192102210123 ）

收稿日期:2020/02/09

修回日期:2020/06/23

出版日期:2021/07/15

Node location algorithm for 3D underwater acoustic wireless sensor network based on Gaussian filter

WANG Lei, LIU Lili, QI Junyan, SONG Cheng

College of Computer Science and Technology， Henan Polytechnic University， Jiaozuo 454000 ，Henan， China

Abstract:Aiming at the problem of low location accuracy of3D underwater acoustic wireless sensor network nodes caused by various interference sources in underwater environment， an improved 3 D underwater acoustic wireless sensor network node location method based on Gaussian filter and quasi Newton method was proposed. Firstly， based on the transmission loss model of underwater acoustic signal， the transmission loss was sampled. Secondly， the Gauss filter was used to process the data， and the processed data were substituted into the improved ranging model for distance estimation. Finally， combined with the multilateral location method， the least square solution of the estimated coordinates of the unknown nodes was obtained. The solution results of the position equations were substituted into the quasi Newton algorithm， and the solution close to the actual value was obtained. The simulation results showed that the proposed method reduced the error of node ranging， and the ranging results were better than the traditional ranging methods and the ranging methods based on PF， RF and KF. Compared with ASTL-GWO， ASTL-ASPSO and ASTL-RQ-PSO， the location accuracy was improved by 49% ，31% and 9% respectively.

Key words:3D underwater acoustic;wireless sensor network;underwater acoustic transmission loss model;Gaussian filter;quasi-Newton method

 基于高斯滤波的三维水声无线传感网络节点定位算法_王磊.pdf