Target localization method based on parzen window in underwater wireless sensor network

In Underwater Wireless Sensor Network (UWSN) the accuracy of target localization suffers from invalid anchors. To reduce the impact, an improved cross-bearing localization method is proposed based on the Parzen window. In this method, the probability of target location is estimated by the Parzen window according to the distribution characteristics of all intersection points, and the target location is selected as the point corresponding to the maximum value of probability. Because of the nonlinear and multi-peak features of the probability distribution, the standard particle swarm optimization method is adopted to solve the problem. Simulations indicate that the proposed method avoids effectively the influence of the invalid anchors on the performance of localization, and has better accuracy and robustness compared with other cross-bearing localization methods in the complex underwater environment.