In underwater wireless sensor networks, sensor position information has important value in network protocols and collaborative detection. However, many challenges were introduced in positioning sensor nodes due to the complexity of the underwater environment. Aiming at the problem of the stratification effect of underwater acoustic waves, the long propagation delay of messages, as well as the mobility of sensor nodes, a mobile target localization scheme for underwater wireless sensor network is proposed based on iterative tracing. Four modules are established in the mobile target localization based on iterative tracing: the data collection and rough position estimation, the estimation and compensation of propagation delay, the node localization, and the iteration. The deviation of distance estimation due to the assumption that acoustic waves propagate along straight lines in an underwater environment is compensated by the mobile target localization based on iterative tracing, and weighted least squares estimation method is used to perform linear regression. Moreover, an interacting multiple model algorithm is put forward to reduce the positioning error caused by the mobility of sensor nodes, and the two services of node time synchronization and localization assist each other during the iteration to improve the accuracy of both parties. The simulation results show that the proposed scheme can achieve higher localization accuracy than the similar schemes, and the positioning errors caused by the above three problems can be reduced effectively.

中文翻译：

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基于迭代跟踪的水下无线传感器网络移动目标定位

在水下无线传感器网络中，传感器位置信息在网络协议和协同检测中具有重要价值。然而，由于水下环境的复杂性，在定位传感器节点时引入了许多挑战。针对水下声波分层效应、消息传播时延长、传感器节点移动性差等问题，提出了一种基于迭代跟踪的水下无线传感器网络移动目标定位方案。基于迭代跟踪的移动目标定位建立了四个模块：数据采集和粗略位置估计、传播延迟估计和补偿、节点定位和迭代。通过基于迭代跟踪的移动目标定位来补偿由于声波在水下环境中沿直线传播的假设而导致的距离估计偏差，并采用加权最小二乘估计方法进行线性回归。此外，提出了一种交互多模型算法来减少传感器节点移动性带来的定位误差，节点时间同步和定位这两个服务在迭代过程中相互辅助，提高双方的准确性。仿真结果表明，与同类方案相比，本文提出的方案能够获得更高的定位精度，并且可以有效降低上述三个问题导致的定位误差。