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本发明公开了一种大水域环境下基于节点簇的分布式传感器自定位系统及定位方法,该定位系统由被定位传感器节点、基站、中继浮标以及地面控制中心组成。定位方法首先基于TOA技术确定簇首并建立簇,而后建立水下传感阵列坐标,结合最小梯度迭代法最终确定被定位传感器节点的局部坐标。本发明公开的定位系统具有可扩充性强、稳定性良好、功耗低、定位精确以及定位刷新率高等优点。
A distributed sensor self-positioning system and a positioning method based on a node cluster in a large water area environment are provided. The positioning system consists of a sensor node to be located, a base station, a relay buoy and a ground control center. First of all, the positioning method is based on TOA technology to determine the cluster heads and establish clusters. Then, the underwater sensor array coordinates are established, and the local coordinates of the located sensor nodes are finally determined by using the minimum gradient iteration method. The positioning system disclosed by the invention has the advantages of strong scalability, good stability, low power consumption, accurate positioning and high positioning refresh rate.