移动水声异步网络自定位和时间同步联合的单向动态预测算法

In order to solve the problems of low time synchronization and positioning accuracy for Mobile Underwater Acoustic Asynchronous Networks(MUAANs)caused by nodes movement and long communication time delay, a one-way prediction based joint self-localization and synchronization algorithm is proposed. In this algorithm, each mobile node’s position and time synchronization can be predicted simultaneously by constructing a joint state model and observation model. Meanwhile, the one-way communication is used between each node in the network which can solve the problem of changed communication time delay when nodes are moving at different time and improve the accuracy and time efficiency of self-localization and time synchronization. Simulation results show that the proposed algorithm can predict the mobile node’s position and time synchronization jointly and increase the accuracy and time efficiency of self-localization and time synchronization simultaneously which is more suitable for underwater environment.