Design And Performance Analysis Of AUV-Aided Underwater Localization Method

Underwater wireless sensor networks are widely used in marine environment monitoring,marine resource development and marine defense security.In most practical applications,accurate node location information helps to improve network utilization and balance energy consumption in different areas of the network.However,the inherent high transmission delay,Doppler frequency shift and narrow bandwidth of underwater acoustic channels have brought great challenges to underwater localization.Because of its good deploy-ability and autonomy,AUVs have received extensive attention in both military and civilian fields.Therefore,this paper studies the underwater localization method assisted by AUV to solve the problems.The main contributions are as follows:1.AUV path planning.Through analysis and comparison of existing AUV path planning methods,this paper proposes an AUV path planning algorithm(APPA-MBC)based on multi-behavior constraints.APPA-MBC algorithm restricts the behavior of AUV from the aspects of shortest path,cooperative behavior,safe path and stable behavior,and uses Delphi method to assign weight coefficients to the AUV behavior constraint functions to construct a global behavior constraint function to realize AUV path planning.Simulation experiment results show that AUV can move along the planned path in a complex underwater environment,which lays a good foundation for the subsequent localization of unknown nodes.2.AUV-aided localization algorithm.By analyzing the existing underwater localization methods,this paper proposes an improved AUV-aided TDoA localization algorithm(NATLA).In the NATLA algorithm,the AUV moves according to the planned path,and periodically broadcasts signals to communicate with unknown nodes in the water area.The unknown nodes use the time difference of arrival TDoA ranging method to achieve their self-localization.The NATLA algorithm corrects the fuzzy solutions that may appear in the results,and designs a delay system to solve the problem of communication timeout.Simulation experiment results show that the algorithm can effectively locate unknown nodes,and the localization time,localization accuracy,and localization coverage are superior to the traditional TDoA localization algorithm.