CN104166121A - Ocean wireless sensor network positioning method - Google Patents

Abstract

The present invention provides a marine wireless sensor network positioning method, comprising the steps of: deploying several node combinations in the ocean, wherein each node combination includes a water surface node floating on the water surface and a deployment node connected to the water surface node And fixed on the seabed nodes on the seabed, some surface nodes are equipped with GPS positioning devices; surface nodes equipped with GPS positioning devices obtain location information at different times and send them to the connected seabed nodes; The position information of the water surface nodes at different times is calculated using geometric principles to obtain their own positions, and the positioning of the submarine nodes connected to the water surface nodes equipped with GPS positioning devices is realized. The invention has low algorithm cost and high positioning efficiency.

Description

A positioning method for marine wireless sensor network

technical field

The invention relates to marine wireless sensor technology, in particular to a positioning method for marine wireless sensor networks.

Background technique

Wireless Sensor Networks (WSN) is an Ad- hoc network, because this kind of network has strong adaptability, easy deployment, easy management, and the ability to monitor the deployed environment at a small scale and close range, it can obtain the monitoring information we need, and can be applied to military affairs, environmental monitoring and protection, and object tracking , health care, community security, intelligent transportation, smart city and other fields, so it has developed rapidly.

With the development of wireless sensor networks, wireless sensor networks can be deployed in complex and variable ocean environments to realize real-time monitoring of the ocean. The marine wireless sensor network generally includes the network part deployed on the sea surface and the network part deployed underwater, that is, the surface wireless sensor network and the underwater wireless sensor network. The surface wireless sensor network uses radio waves for communication and networking, which can be used to monitor information related to the ocean such as wind direction, wave height, tide, water temperature, light, and water pollution. It is also responsible for information transmission with the underwater sensor network. At present, underwater wireless sensor networks mainly use underwater acoustics to realize communication and networking. Compared with terrestrial wireless sensor networks, underwater wireless sensor networks have the following characteristics: the communication channel has high delay, delay dynamic change, high attenuation, and high error rate. Code rate, multipath effect, severe Doppler dispersion, channel height dynamic changes, and low bandwidth are considered to be the most difficult wireless communication channels so far.

The marine wireless sensor network can realize real-time collection and processing of marine data, and can realize applications such as environmental monitoring, structural detection, military surveillance, and disaster avoidance. For these applications, location is a crucial part. For example, environmental monitoring needs to know the location information of pollution occurrence, while underwater biological tracking and underwater safety intrusion monitoring need to know the location information of incident occurrence. In addition, energy-saving routing control and the like can be realized by using the location information of nodes.

Although the positioning problem of terrestrial wireless sensor networks has been extensively studied and many effective positioning algorithms have been proposed, due to the unique characteristics of marine wireless sensor networks, the existing terrestrial wireless sensor network positioning technology cannot be directly applied to marine monitoring sensors. In the network, many new problems will be encountered in the realization of positioning. For example, anchor nodes are difficult to deploy precisely in underwater environments. In order to achieve underwater positioning, the positioning mechanism usually needs to deploy anchor nodes (that is, nodes that already know their positions) underwater, and the accuracy of their distribution will directly affect the accuracy of node positioning. However, for the underwater environment, especially for the deep sea environment, it is very difficult to accurately deploy the anchor node on the seabed. This positional uncertainty of anchor nodes has an impact on localization algorithms that rely on underwater anchor nodes. For another example, when the nodes are deployed on the sea, it is generally necessary to deploy the nodes on the buoys, so these nodes will fluctuate randomly with the wave fluctuations, and these random fluctuations make those methods suitable for locating land nodes ineffective. Applied at sea. Therefore, according to the characteristics of the deployed marine wireless sensor network, it is of great significance to study a simple and feasible positioning algorithm for the practical application of the marine wireless sensor network, and it is an important research direction in this field at present.

Contents of the invention

The technical problem to be solved by the present invention is to provide a high-efficiency marine positioning method based on a wireless sensor network.

In order to solve the above technical problems, the present invention provides a positioning method for marine wireless sensor networks, comprising steps:

Deploying several node combinations in the ocean, wherein each node combination includes a surface node floating on the water surface and a subsea node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning devices;

Surface nodes equipped with GPS positioning devices obtain location information at different times and send it to the connected submarine nodes;

The connected seabed node calculates its own position according to the received position information of the water surface node at different times using geometric principles, and realizes the positioning of the seabed node connected to the water surface node equipped with a GPS positioning device.

Further, after realizing the positioning of the seabed node connected to the surface node equipped with GPS positioning device, it also includes the steps of:

A located subsea node connected to a surface node equipped with a GPS positioning device sends its own position information to an adjacent unlocated subsea node;

The unlocated seabed nodes calculate their own positions based on the received position information of adjacent seabed nodes using geometric principles, and realize the positioning of all seabed nodes.

Further, after the positioning of all seabed nodes is realized, steps are also included:

When a surface node that is not equipped with a GPS positioning device needs to locate an instant position, obtain the location information of the connected submarine node and the location information of the adjacent submarine node;

The surface node to be positioned calculates its own position according to the received location information of the connected submarine node and the location information of the adjacent submarine node, and realizes the real-time positioning of the surface node without GPS positioning device.

In the present invention, several node combinations are deployed in the ocean, wherein each node combination includes a surface node floating on the water surface and a submarine node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning device; the water surface node equipped with GPS positioning device obtains the position information at different times and sends it to the seabed node connected to it; the connected seabed node is calculated according to the received position information of the water surface node at different times using geometric principles Its own position realizes the positioning of the subsea node connected with the surface node equipped with GPS positioning device. The invention has low algorithm cost and high positioning efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic flow chart of a first embodiment of a positioning method for a marine wireless sensor network provided by the present invention;

Fig. 2 is the structural representation of node combination of the present invention;

Figure 3 is a schematic diagram of the long-term floating position of the floating node on the water surface affected by the tide after the node combination is deployed;

Fig. 4 is a schematic diagram showing that the combination of nodes is deployed in the ocean to form an ocean wireless sensor network;

FIG. 5 is a schematic flowchart of a second embodiment of a positioning method for a marine wireless sensor network provided by the present invention;

Fig. 6 is a schematic diagram of the position of a surface node equipped with a GPS positioning device at a certain time;

Figure 7 is a schematic diagram of the positions of two water surface nodes equipped with GPS positioning devices;

Fig. 8 is a schematic diagram of the positions of four seabed nodes;

Fig. 9 is a schematic flowchart of a third embodiment of a positioning method for a marine wireless sensor network provided by the present invention;

Figure 10 is a schematic diagram of the positions of two node combinations.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is a schematic flow chart of a first embodiment of a marine wireless sensor network positioning method provided by the present invention. As shown in Fig. 1, the method includes steps:

S11. Deploy several node combinations in the ocean, wherein each node combination includes a surface node floating on the water surface and a submarine node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning device.

Referring to Fig. 2, wherein the surface node is a double-head node, the upper end of the double-head node is used to interact with other double-head nodes by radio, and the lower end of the double-head node is used to interact with the submarine node by using underwater sound . The surface node and the seabed node can be connected by cables, so that the surface node can drift with the waves in a controllable range. Some surface nodes are equipped with GPS positioning devices to locate their own positions. Generally, surface nodes equipped with GPS positioning devices and connected submarine nodes are equipped with large-capacity power supply batteries, because surface nodes equipped with GPS positioning devices and connected submarine nodes The communication distance of the nodes is large, and the positioning process needs to rely on the surface nodes equipped with GPS positioning devices for GPS positioning first, and the submarine nodes connected to the surface nodes equipped with GPS positioning devices to realize their own positioning according to the position of the surface nodes. Therefore, the energy consumption is large. Optionally, a surface node equipped with a GPS positioning device and a connected subsea node equipped with a solar cell device is also an option, depending on factors such as cost and deployment monitoring time.

Figure 3 shows a schematic diagram of the long-term floating position of the surface floating node affected by the tide after the surface node is deployed. It should be noted that the tide height in different places will be different, which will affect the actual floating position of the floating node on the water surface. Similarly, the floating position of the node on the water surface is related to the cable length allowance. For example, when the tide rises, the water depth h becomes larger, but the radius r of the area where the water surface nodes can move becomes smaller.

Figure 4 shows a schematic diagram of the combination of nodes deployed to the ocean to form a marine wireless sensor network. Since the deployment of the network can be spread by artificial ships or aircraft, but like other network deployments, the deployment of the network will affect the networking and working conditions of the network. Having a certain deployment density will ensure reliable networking under the condition of fixed node communication distance. Of course, this is not a unique requirement of the positioning algorithm of the present invention. Reliable networking is a prerequisite for ensuring reliable operation of marine monitoring networks. At present, there have been many studies on reliable networking, and the present invention will not repeat them.

S12. The surface node equipped with the GPS positioning device acquires location information at different times and sends it to the seabed node connected thereto.

Among them, the surface node equipped with GPS positioning device is positioned by GPS device, and the position information at different times is sent to the seabed node connected to it.

S13. The connected seabed node calculates its own position according to the received location information of the water surface node at different times using geometric principles, and realizes the positioning of the seabed node connected to the water surface node equipped with a GPS positioning device.

In the embodiment of the present invention, several node combinations are deployed in the ocean, wherein each node combination includes a surface node floating on the water surface and a subsea node connected to the surface node and fixed on the seabed. Some surface nodes are equipped with GPS positioning device; the surface node equipped with GPS positioning device obtains the position information at different times and sends it to the submarine node connected to it; the connected submarine node adopts the geometric principle according to the received position information of the surface node at different times Calculate its own position and realize the positioning of the submarine node connected to the surface node equipped with GPS positioning device. The algorithm of the embodiment of the present invention has low cost and high positioning efficiency.

Fig. 5 is a schematic flowchart of a second embodiment of a marine wireless sensor network positioning method provided by the present invention. As shown in Fig. 5, the method includes steps:

S21. Deploy several node combinations in the ocean, wherein each node combination includes a surface node floating on the water surface and a submarine node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning device.

Refer to Figure 2 for specific deployment, wherein the water surface node is a double-head node, the upper end of the double-head node is used to interact with other double-head nodes by radio, and the lower end of the double-head node is used to use underwater acoustics to communicate with the seabed. Node interaction. The surface node and the seabed node can be connected by cables, so that the surface node can drift with the waves in a controllable range. Some surface nodes are equipped with GPS positioning devices to locate their own positions. Generally, surface nodes equipped with GPS positioning devices and connected submarine nodes are equipped with large-capacity power supply batteries, because surface nodes equipped with GPS positioning devices and connected submarine nodes The communication distance of the nodes is large, and the positioning process needs to rely on the surface nodes equipped with GPS positioning devices for GPS positioning first, and the submarine nodes connected to the surface nodes equipped with GPS positioning devices to realize their own positioning according to the position of the surface nodes. Therefore, the energy consumption is large. Optionally, a surface node equipped with a GPS positioning device and a connected subsea node equipped with a solar cell device is also an option, depending on factors such as cost and deployment monitoring time.

Figure 3 shows a schematic diagram of the long-term floating position of the surface floating node affected by the tide after the surface node is deployed. It should be noted that the tide height in different places will be different, which will affect the actual floating position of the floating node on the water surface. Similarly, the floating position of the node on the water surface is related to the cable length allowance. For example, when the tide rises, the water depth h becomes larger, but the radius r of the area where the water surface nodes can move becomes smaller.

Figure 4 shows a schematic diagram of the combination of nodes deployed to the ocean to form a marine wireless sensor network. Since the deployment of the network can be spread by artificial ships or aircraft, but like other network deployments, the deployment of the network will affect the networking and working conditions of the network. Having a certain deployment density will ensure reliable networking under the condition of fixed node communication distance. Of course, this is not a unique requirement of the positioning algorithm of the present invention. Reliable networking is a prerequisite for ensuring reliable operation of marine monitoring networks. At present, there have been many studies on reliable networking, and the present invention will not repeat them.

S22. The surface node equipped with the GPS positioning device acquires location information at different times and sends it to the seabed node connected thereto. It specifically includes the following steps:

S221. The surface node equipped with a GPS positioning device uses the GPS positioning device to acquire a position coordinate and sends it to the seabed node connected to it.

For example, as shown in Figure 6, assume that the surface node equipped with GPS positioning device is node A, and the submarine node connected to it is node M, where the coordinates of node A are set to ( _xi , y _i ), and node A adopts GPS positioning The device obtains the position coordinates once (x ₁ , y ₁ ) and sends them to the node M, and finally needs to obtain the coordinates (x _m , y _m ) of the node M.

S222. When the surface node equipped with the GPS positioning device floats with the waves until the distance from the position when the position coordinates were sent last time reaches the preset threshold, use the GPS positioning device to obtain the current position coordinates and send them to the connected seabed nodes.

For example, as shown in FIG. 6 , after a period of time, node A drifts with factors such as ocean currents, tides, and winds, and moves to a new location. When the distance between the new position and the position when the position coordinates (x ₁ , y ₁ ) was sent last time reaches the preset threshold R, the GPS positioning device is used to obtain the current position coordinates (x ₂ , y ₂ ) and send it to node M.

It should be noted that, in order to ensure the positioning accuracy, for the sending interval of two position coordinates, a pre-value R can be predetermined, R is the distance between the two sending locations. In order to satisfy R, when the node drift speed is slow, the positioning of the seabed node takes longer time, but according to the observation of the actual deployment of the sea surface node, the node always floats and moves within a certain period of time, so the realization of the positioning algorithm Has little effect.

S23. The connected seabed node calculates its own position according to the received location information of the water surface node at different times using geometric principles, and realizes the positioning of the seabed node connected to the water surface node equipped with a GPS positioning device. It specifically includes the following steps:

S231. The connected seabed node obtains the water depth when it sends position coordinates each time according to the configured pressure sensor.

For example, as shown in Figure 6, the water depth is set to h _i , then the node M sends the location coordinates (x 1 , y 1 ) for the first time to obtain the water depth according to the configured pressure sensor as h ₁ , then the node M sends the position coordinates (x ₁ , y ₁ ) for the first time Send the position coordinates (x ₂ , y ₂ ) and obtain the water depth according to the configured pressure sensor as h ₂ .

S232. Calculate and obtain the surface node equipped with GPS positioning device according to the difference between the sending time of the position coordinates of the surface node equipped with GPS positioning device and the receiving time of the position coordinates of the connected submarine node and the propagation speed of sound waves underwater and the distance between connected seabed nodes each time position coordinates are sent.

Since the nodes in the network are all time-synchronized, assuming that the sending time for node A to send the position coordinates to node M is t _A , and the receiving time for node M to receive the position coordinates sent by node A is t _M , then from node A to node M The propagation time of the sound wave is Δt=t _M -t _A , and the distance l _i between the node M and the node A can be calculated by using the propagation velocity v of the sound wave underwater, that is, l _i =Δt×v. Therefore, it can be calculated that the distance between node A and node M when sending position coordinates (x ₁ , y ₁ ) is l ₁ , then the distance between node A and node M when sending position coordinates (x ₂ , y ₂ ) The distance is l ₂ .

The propagation velocity v of underwater sound under water can be obtained by using two surface nodes equipped with GPS positioning devices, as shown in Figure 7, the specific operation is as follows: both node A and node B have GPS modules, and node _A The upper and lower ends of the node send a beacon (including the location information of node A, time stamp, etc.), the upper end of node B receives the beacon instantly and records the beacon information, and records its own location information at the same time, and then through node A and node B Calculate the distance L _AB between AB nodes based on the location information. Assuming that the lower end of Node B receives the beacon at time t ₂ , the propagation velocity of underwater sound can be calculated: v= _LAB /(t ₂ -t ₁ ).

S233. According to the water depth of the seabed node twice, the distance between the seabed node and the corresponding water surface node, and the position coordinates of the corresponding water surface node, the position of the seabed node is calculated using the Pythagorean Theorem, and the water surface node equipped with a GPS positioning device is realized. Positioning of connected subsea nodes.

For example, as shown in Figure 6, the triangle MOA is a right triangle, using the Pythagorean theorem, we can get:

r _i ² ＝l _i ² -h _i ² formula (1)

When node M receives the first position coordinates (x ₁ , y ₁ ) sent by node A, it can be obtained by using formula (1):

${(x_m-x_1)}^2+{({\mathrm{the\; y}}_m-{\mathrm{the\; y}}_1)}^2=l_1^2-h_1^2$ Formula (2)

After node M receives the second position coordinates (x ₂ , y ₂ ) sent by node A, it can be obtained by using formula (1),

${(x_m-x_2)}^2+{({\mathrm{the\; y}}_m-{\mathrm{the\; y}}_2)}^2=l_2^2-h_2^2$ Formula (3)

Combining Equation (2) and Equation (3), (x _m , y _m ) can be calculated, that is, the coordinates of node M can be obtained, and each submarine node connected to the surface node equipped with GPS positioning device can be calculated according to the above steps, so that Realize the positioning of subsea nodes connected to surface nodes equipped with GPS positioning devices.

It should be noted that in formulas (2) and (3), h ₁ =h ₂ is possible, and this situation occurs when the interval between sending two position coordinates is not long, and the water depth does not change.

S24. The positioned seabed node connected to the water surface node equipped with GPS positioning device sends its own position information to the adjacent unlocated seabed node; the unlocated seabed node uses the location information according to the received adjacent seabed node. The geometric principle calculates its own position and realizes the positioning of all seabed nodes. Specifically, step S24 includes the following steps:

S241. The positioned seabed node obtains the current water depth according to the configured pressure sensor, and sends its own position coordinates and the current water depth to adjacent unlocated seabed nodes.

For example, as shown in Figure 8, nodes A, B, and C are located seabed nodes, and their positions are already known, which are recorded as (x _A , y _A ), (x _B , y _B ), (x _C , y _C ), the water depths at the location are h _A , h _B , h _C . The positioned submarine nodes are connected to the surface nodes equipped with GPS positioning devices, and have relatively large transmission power. The three positioned submarine nodes A, B, and C send their own position coordinates and current water depth to the adjacent unlocated The seabed node D.

S242. The unlocated seabed node receives corresponding position coordinates and water depths sent by three adjacent positioned seabed nodes.

For example, as shown in FIG. 8 , node D receives its own position coordinates and water depth from three positioned submarine nodes A, B, and C.

S243. The unlocated seabed node respectively calculates distances from three adjacent located seabed nodes according to the sound wave propagation velocity.

For example, as shown in FIG. 8 , the distances between node D and nodes A, B, and C, namely L _DA , L _DB , and L _DC , are calculated according to the method in step S232.

S244. The unlocated seabed node adopts the corresponding position coordinates and water depth sent by three adjacent positioned seabed nodes, and the distance between the unlocated seabed node and three adjacent positioned seabed nodes. According to the Pythagorean theorem, the positions of the unlocated seabed nodes are obtained to realize the positioning of all seabed nodes.

For example, as shown in FIG. 8, the position of D can be calculated by using the projection principle and geometric method. Specifically, nodes A, B, and C are respectively projected onto the same plane as A', B', and C'. Using geometry and projection principles, we can get:

${\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; AD</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; BD</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; cd</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; .</span>$

On the projected plane we get:

$\left\{\begin{array}{c}{(x_A-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_A-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{A\&prime;\mathrm{D.}\&prime;}^2\\ {(x_B-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_B-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{B\&prime;\mathrm{D.}\&prime;}^2\\ {(x_C-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_C-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{C\&prime;\mathrm{D.}\&prime;}^2\end{array}\right.$ Formula (4)

The position of node D can be calculated using formula (4). Calculate the position of each unlocated seabed node according to the above steps, so as to realize the positioning of all seabed nodes.

In the embodiment of the present invention, several node combinations are deployed in the ocean, wherein each node combination includes a surface node floating on the water surface and a subsea node connected to the surface node and fixed on the seabed. Some surface nodes are equipped with GPS positioning device; the surface node equipped with GPS positioning device obtains the position information at different times and sends it to the submarine node connected to it; the connected submarine node adopts the geometric principle according to the received position information of the surface node at different times Calculate its own position and realize the positioning of the submarine node connected to the surface node equipped with GPS positioning device; the positioned submarine node connected to the surface node equipped with GPS positioning device sends its own position information to the adjacent unlocated node seabed nodes; unlocated seabed nodes calculate their own positions based on the received location information of adjacent seabed nodes using geometric principles to realize the positioning of all seabed nodes. The location of the seabed node can be positioned only by receiving the position coordinates of two water surface nodes. The required positioning coordinates are few, the algorithm cost is low, and the positioning efficiency is high.

Fig. 9 is a schematic flowchart of a third embodiment of a marine wireless sensor network positioning method provided by the present invention. As shown in Fig. 9, the method includes steps:

S31. Deploy several node combinations in the ocean, wherein each node combination includes a surface node floating on the water surface and a submarine node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning device.

Refer to Figure 2 for specific deployment, wherein the water surface node is a double-head node, the upper end of the double-head node is used to interact with other double-head nodes by radio, and the lower end of the double-head node is used to use underwater acoustics to communicate with the seabed. Node interaction. The surface node and the seabed node can be connected by cables, so that the surface node can drift with the waves in a controllable range. Some surface nodes are equipped with GPS positioning devices to locate their own positions. Generally, surface nodes equipped with GPS positioning devices and connected submarine nodes are equipped with large-capacity power supply batteries, because surface nodes equipped with GPS positioning devices and connected submarine nodes The communication distance of the nodes is large, and the positioning process needs to rely on the surface nodes equipped with GPS positioning devices for GPS positioning first, and the submarine nodes connected to the surface nodes equipped with GPS positioning devices to realize their own positioning according to the position of the surface nodes. Therefore, the energy consumption is large. Optionally, a surface node equipped with a GPS positioning device and a connected subsea node equipped with a solar cell device is also an option, depending on factors such as cost and deployment monitoring time.

Figure 3 shows a schematic diagram of the long-term floating position of the surface floating node affected by the tide after the surface node is deployed. It should be noted that the tide height in different places will be different, which will affect the actual floating position of the floating node on the water surface. Similarly, the floating position of the node on the water surface is related to the cable length allowance. For example, when the tide rises, the water depth h becomes larger, but the radius r of the area where the water surface nodes can move becomes smaller.

Figure 4 shows a schematic diagram of the combination of nodes deployed to the ocean to form a marine wireless sensor network. Since the deployment of the network can be spread by artificial ships or aircraft, but like other network deployments, the deployment of the network will affect the networking and working conditions of the network. Having a certain deployment density will ensure reliable networking under the condition of fixed node communication distance. Of course, this is not a unique requirement of the positioning algorithm of the present invention. Reliable networking is a prerequisite for ensuring reliable operation of marine monitoring networks. At present, there have been many studies on reliable networking, and the present invention will not repeat them.

S32. The surface node equipped with the GPS positioning device acquires location information at different times and sends it to the seabed node connected thereto. It specifically includes the following steps:

S321. The surface node equipped with a GPS positioning device uses the GPS positioning device to acquire a position coordinate and sends it to the seabed node connected to it.

For example, as shown in Figure 6, assume that the surface node equipped with GPS positioning device is node A, and the submarine node connected to it is node M, where the coordinates of node A are set to ( _xi , y _i ), and node A adopts GPS positioning The device obtains the position coordinates once (x ₁ , y ₁ ) and sends them to the node M, and finally needs to obtain the coordinates (x _m , y _m ) of the node M.

S322. When the surface node equipped with the GPS positioning device floats with the waves until the distance from the position when the position coordinates were sent last time reaches the preset threshold, use the GPS positioning device to obtain the current position coordinates and send them to the connected seabed nodes.

For example, as shown in FIG. 6 , after a period of time, node A drifts with factors such as ocean currents, tides, and winds, and moves to a new location. When the distance between the new position and the position when the position coordinates (x ₁ , y ₁ ) was sent last time reaches the preset threshold R, the GPS positioning device is used to obtain the current position coordinates (x ₂ , y ₂ ) and send it to node M.

It should be noted that, in order to ensure the positioning accuracy, for the sending interval of two position coordinates, a pre-value R can be predetermined, R is the distance between the two sending locations. In order to satisfy R, when the node drift speed is slow, the positioning of the seabed node takes longer time, but according to the observation of the actual deployment of the sea surface node, the node always floats and moves within a certain period of time, so the realization of the positioning algorithm Has little effect.

S33. The connected seabed node calculates its own position according to the received location information of the water surface node at different times using geometric principles, and realizes the positioning of the seabed node connected to the water surface node equipped with a GPS positioning device. It specifically includes the following steps:

S331. The connected seabed node obtains the water depth when it sends position coordinates each time according to the configured pressure sensor.

For example, as shown in Figure 6, the water depth is set to h _i , then the node M sends the location coordinates (x 1 , y 1 ) for the first time to obtain the water depth according to the configured pressure sensor as h ₁ , then the node M sends the position coordinates (x ₁ , y ₁ ) for the first time Send the position coordinates (x ₂ , y ₂ ) and obtain the water depth according to the configured pressure sensor as h ₂ .

S332. Calculate and obtain the surface node equipped with GPS positioning device according to the difference between the sending time of the position coordinates of the surface node equipped with GPS positioning device and the receiving time of the position coordinates of the connected submarine node and the propagation speed of sound waves underwater and the distance between connected seabed nodes each time position coordinates are sent.

Since the nodes in the network are all time-synchronized, assuming that the sending time for node A to send the position coordinates to node M is t _A , and the receiving time for node M to receive the position coordinates sent by node A is t _M , then from node A to node M The propagation time of the sound wave is Δt=t _M -t _A , and the distance l _i between the node M and the node A can be calculated by using the propagation velocity v of the sound wave underwater, that is, l _i =Δt×v. Therefore, it can be calculated that the distance between node A and node M when sending position coordinates (x ₁ , y ₁ ) is l ₁ , then the distance between node A and node M when sending position coordinates (x ₂ , y ₂ ) The distance is l ₂ .

The propagation velocity v of underwater sound under water can be obtained by using two surface nodes equipped with GPS positioning devices, as shown in Figure 7, the specific operation is as follows: both node A and node B have GPS modules, and node _A The upper and lower ends of the node send a beacon (including the location information of node A, time stamp, etc.), the upper end of node B receives the beacon instantly and records the beacon information, and records its own location information at the same time, and then through node A and node B Calculate the distance L _AB between AB nodes based on the location information. Assuming that the lower end of Node B receives the beacon at time t ₂ , the propagation velocity of underwater sound can be calculated: v= _LAB /(t ₂ -t ₁ ).

S333. According to the water depth of the seabed node twice, the distance between the seabed node and the corresponding water surface node, and the position coordinates of the corresponding water surface node, the position of the seabed node is calculated using the Pythagorean theorem, and the water surface node equipped with a GPS positioning device is realized. Positioning of connected subsea nodes.

For example, as shown in Figure 6, the triangle MOA is a right triangle, using the Pythagorean theorem, we can get:

r _i ² ＝l _i ² -h _i ² formula (1)

When node M receives the first position coordinates (x ₁ , y ₁ ) sent by node A, it can be obtained by using formula (1):

${(x_m-x_1)}^2+{({\mathrm{the\; y}}_m-{\mathrm{the\; y}}_1)}^2=l_1^2-h_1^2$ Formula (2)

After node M receives the second position coordinates (x ₂ , y ₂ ) sent by node A, it can be obtained by using formula (1),

${(x_m-x_2)}^2+{({\mathrm{the\; y}}_m-{\mathrm{the\; y}}_2)}^2=l_2^2-h_2^2$ Formula (3)

Combining Equation (2) and Equation (3), (x _m , y _m ) can be calculated, that is, the coordinates of node M can be obtained, and each submarine node connected to the surface node equipped with GPS positioning device can be calculated according to the above steps, so that Realize the positioning of subsea nodes connected to surface nodes equipped with GPS positioning devices.

It should be noted that in formulas (2) and (3), h ₁ =h ₂ is possible, and this situation occurs when the interval between sending two position coordinates is not long, and the water depth does not change.

S34. The positioned seabed node connected to the water surface node equipped with GPS positioning device sends its own position information to the adjacent unlocated seabed node; the unlocated seabed node uses the location information according to the received adjacent seabed node. The geometric principle calculates its own position and realizes the positioning of all seabed nodes. Specifically, step S24 includes the following steps:

S341. The positioned seabed node obtains the current water depth according to the configured pressure sensor, and sends its own position coordinates and the current water depth to adjacent unlocated seabed nodes.

For example, as shown in Figure 8, nodes A, B, and C are located seabed nodes, and their positions are already known, which are recorded as (x _A , y _A ), (x _B , y _B ), (x _C , y _C ), the water depths at the location are h _A , h _B , h _C . The positioned submarine nodes are connected to the surface nodes equipped with GPS positioning devices, and have relatively large transmission power. The three positioned submarine nodes A, B, and C send their own position coordinates and current water depth to the adjacent unlocated The seabed node D.

S342. The unlocated seabed node receives corresponding position coordinates and water depths sent by three adjacent positioned seabed nodes.

For example, as shown in FIG. 8 , node D receives its own position coordinates and water depth from three positioned submarine nodes A, B, and C.

S343. The unlocated seabed node respectively calculates distances from three adjacent located seabed nodes according to the sound wave propagation velocity.

For example, as shown in FIG. 8 , the distances between node D and nodes A, B, and C, namely L _DA , L _DB , and L _DC , are calculated according to the method in step S332.

S344. The unlocated seabed node uses the corresponding position coordinates and water depth sent by three adjacent positioned seabed nodes, and the distance between the unlocated seabed node and three adjacent positioned seabed nodes. According to the Pythagorean theorem, the positions of the unlocated seabed nodes are obtained to realize the positioning of all seabed nodes.

For example, as shown in FIG. 8, the position of D can be calculated by using the projection principle and geometric method. Specifically, nodes A, B, and C are respectively projected onto the same plane as A', B', and C'. Using geometry and projection principles, we can get:

${\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; AD</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; BD</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&prime;</span>\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; cd</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; .</span>$

On the projected plane we get:

$\left\{\begin{array}{c}{(x_A-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_A-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{A\&prime;\mathrm{D.}\&prime;}^2\\ {(x_B-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_B-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{B\&prime;\mathrm{D.}\&prime;}^2\\ {(x_C-x_{\mathrm{D.}})}^2+{({\mathrm{the\; y}}_C-{\mathrm{the\; y}}_{\mathrm{D.}})}^2{L}_{C\&prime;\mathrm{D.}\&prime;}^2\end{array}\right.$ Formula (4)

The position of node D can be calculated using formula (4). Calculate the position of each unlocated seabed node according to the above steps, so as to realize the positioning of all seabed nodes.

S35. When a surface node not equipped with a GPS positioning device needs to locate an instant position, acquire the position information of the seabed node connected to it and the position information of the adjacent seabed node. Specifically, step S35 includes the following steps:

S351. When a surface node not equipped with a GPS positioning device needs to locate an instant position, send a positioning request to the connected seabed node and adjacent seabed nodes.

When the marine wireless sensor network is deployed, a two-layer communication monitoring network on the surface and underwater is actually formed. When the surface node monitors pollution, intrusion and other information and needs to know its location information immediately, it sends a positioning request to the connected submarine node and adjacent submarine nodes. For example, as shown in Figure 10, the surface node that is not equipped with a GPS positioning device is node C. When real-time positioning is required, it sends its own ID, time and other information to the connected submarine node M _a , and the adjacent submarine node M _b Make an instant location request.

S352. The connected seabed nodes and adjacent seabed nodes respectively obtain corresponding current water depths according to the configured pressure sensors, and send their own position coordinates and current water depths to the water surface nodes to be positioned.

For example, nodes M _a and M _b respectively obtain corresponding current water depths h ₁ and h ₂ according to the configured pressure sensors, and respectively send their own position coordinates And water depth h ₁ , h ₂ are sent to node C.

S36. The surface node to be positioned calculates its own position according to the received location information of the connected seabed node and the location information of the adjacent seabed node, so as to realize the instant positioning of the surface node not equipped with GPS positioning device. Step S36 specifically includes steps:

S361. Calculate distances between the to-be-located water surface node, the connected seabed node, and the adjacent seabed node according to the sound wave propagation velocity.

For example, as shown in Figure 10, according to the method of step S332, the distances between node C and nodes M _a and M _b are calculated respectively, namely

S362. The water surface node to be positioned is respectively connected to the connected seabed node and the adjacent seabed node according to the received position coordinates and water depth of the connected seabed node and the adjacent seabed node. The distance between the adjacent seabed nodes is calculated by using the Pythagorean theorem to obtain the position of the water surface node to be positioned, so as to realize the instant positioning of the water surface node not equipped with a GPS positioning device.

As shown in Figure 10, the triangle _ma , O ₁ , and C are right-angled triangles, so we can get:

$L_{m_{a}c}^2=h_1^2+{(x_c-x_{m_a})}^2+{({\mathrm{the\; y}}_c-{\mathrm{the\; y}}_{m_a})}^2$ Formula (5)

Similarly, the triangle m _b , O ₂ , C is also a right-angled triangle. Using the geometric principle, we can get:

$L_{m_{b}c}^2=h_2^2+{(x_c-x_{m_b})}^2+{({\mathrm{the\; y}}_c-{\mathrm{the\; y}}_{m_b})}^2$ Formula (6)

Among them, the coordinates of node C to be positioned are (x _c , y _c ), combined with formula (5) (6), the coordinates of node C can be calculated as (x _c , y _c ), and then realize the Instant positioning of the water surface nodes.

In the embodiment of the present invention, several node combinations are deployed in the ocean, wherein each node combination includes a surface node floating on the water surface and a subsea node connected to the surface node and fixed on the seabed. Some surface nodes are equipped with GPS positioning device; the surface node equipped with GPS positioning device obtains the position information at different times and sends it to the submarine node connected to it; the connected submarine node adopts the geometric principle according to the received position information of the surface node at different times Calculate its own position and realize the positioning of the submarine node connected to the surface node equipped with GPS positioning device; the positioned submarine node connected to the surface node equipped with GPS positioning device sends its own position information to the adjacent unlocated node seabed nodes; unlocated seabed nodes use geometric principles to calculate their own positions based on the received location information of adjacent seabed nodes, and realize the positioning of all seabed nodes; when surface nodes that are not equipped with GPS positioning devices need to locate real-time positions , to obtain the location information of the seabed node connected to it and the location information of adjacent seabed nodes; the surface node to be positioned is calculated using geometric principles based on the received location information of the seabed node connected to it and the location information of adjacent seabed nodes Obtain its own position and realize instant positioning of surface nodes that are not equipped with GPS positioning devices. The location of submarine nodes can be positioned only by receiving the position coordinates of two surface nodes, while in the location of water surface nodes, only the information of two underwater nodes can be received to locate. efficient.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed method can be implemented in other ways.

Professionals can further realize that the algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software In the above description, the steps of each example have been generally described in terms of functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A marine wireless sensor network positioning method, characterized in that, comprising steps: Deploying several node combinations in the ocean, wherein each node combination includes a surface node floating on the water surface and a subsea node connected to the surface node and fixed on the seabed, and some surface nodes are equipped with GPS positioning devices; Surface nodes equipped with GPS positioning devices obtain location information at different times and send it to the connected submarine nodes; The connected seabed node calculates its own position according to the received position information of the water surface node at different times using geometric principles, and realizes the positioning of the seabed node connected to the water surface node equipped with a GPS positioning device. 2. marine wireless sensor network positioning method as claimed in claim 1, is characterized in that, after described realization and the location of the seabed node that is connected with the water surface node equipped with GPS positioning device, also comprise steps: A located subsea node connected to a surface node equipped with a GPS positioning device sends its own position information to an adjacent unlocated subsea node; The unlocated seabed nodes calculate their own positions based on the received location information of adjacent seabed nodes using geometric principles to realize the positioning of all seabed nodes. 3. marine wireless sensor network location method as claimed in claim 2, is characterized in that, also comprises step after described realizing the location of all seabed nodes: When a surface node that is not equipped with a GPS positioning device needs to locate an instant position, obtain the location information of the connected submarine node and the location information of the adjacent submarine node; The surface node to be positioned calculates its own position according to the received location information of the connected submarine node and the location information of the adjacent submarine node, and realizes the real-time positioning of the surface node without GPS positioning device. 4. marine wireless sensor network positioning method as claimed in claim 1, is characterized in that, the described water surface node that is equipped with GPS positioning device obtains the position information at different times and sends to the seabed node that is connected with it and comprises steps: The surface node equipped with a GPS positioning device uses a GPS positioning device to obtain a position coordinate and sends it to the seabed node connected to it; When the surface node equipped with the GPS positioning device floats with the waves until the distance from the position when the position coordinates were sent last time reaches the preset threshold, the GPS positioning device is used to obtain the current position coordinates and send them to the connected seabed nodes. 5. The ocean wireless sensor network positioning method as claimed in claim 4, wherein, the connected seabed node adopts geometric principles to calculate its own position according to the received position information of the water surface node at different times, so as to realize and The positioning of the seabed node connected to the surface node equipped with GPS positioning device includes steps: The connected seabed node obtains the water depth when sending position coordinates each time according to the configured pressure sensor; According to the difference between the position coordinate sending time of the water surface node equipped with GPS positioning device and the receiving time of the connected seabed node position coordinates and the propagation speed of sound waves under water, the surface node equipped with GPS positioning device and relative The distance between connected subsea nodes each time a location coordinate is sent; According to the water depth of the seabed node twice, the distance between the seabed node and the corresponding water surface node, and the position coordinates of the corresponding water surface node, the position of the seabed node is calculated by using the Pythagorean theorem, and the connection with the water surface node equipped with GPS positioning device is realized. The location of the seabed nodes. 6. The ocean wireless sensor network positioning method as claimed in claim 2, wherein the positioned seabed nodes connected to the water surface nodes equipped with GPS positioning devices send their own position information to adjacent unlocated nodes. Seabed nodes; unlocated seabed nodes use geometric principles to calculate their own positions based on the received location information of adjacent seabed nodes, and the positioning of all seabed nodes includes steps: The positioned subsea node obtains the current water depth according to the configured pressure sensor, and sends its own position coordinates and current water depth to the adjacent unlocated subsea node; The unlocated seabed node receives the corresponding position coordinates and water depth sent by three adjacent located seabed nodes; The distance between the unlocated seabed node and three adjacent located seabed nodes is respectively calculated according to the velocity of sound wave propagation; According to the corresponding position coordinates and water depth sent by the three adjacent located seabed nodes, the unlocated seabed node and the distance between the three adjacent located seabed nodes adopt Pythagorean Theorems are used to obtain the positions of the unlocated seabed nodes, and realize the positioning of all seabed nodes. 7. The ocean wireless sensor network positioning method as claimed in claim 3, wherein, when the surface node that is not equipped with a GPS positioning device needs to locate an instant position, obtain the position information and the adjacent position information of the seabed node connected to it. The location information of seabed nodes includes steps: When a surface node that is not equipped with a GPS positioning device needs to locate an instant position, it sends a positioning request to the connected submarine node and adjacent submarine nodes; The connected seabed nodes and adjacent seabed nodes respectively obtain corresponding current water depths according to the configured pressure sensors, and send their own position coordinates and current water depths to the water surface nodes to be positioned respectively. 8. The ocean wireless sensor network positioning method as claimed in claim 7, wherein the water surface node to be positioned adopts geometric The principle calculates its own position, and realizes the real-time positioning of surface nodes without GPS positioning devices, including steps: Calculate the distance between the water surface node to be located and the connected seabed node and the adjacent seabed node according to the sound wave propagation velocity; According to the received position coordinates and water depth of the connected seabed node and the adjacent seabed node, the water surface node to be positioned is connected to the connected seabed node and the adjacent seabed node respectively. The distance between adjacent seabed nodes is calculated by using the Pythagorean theorem to obtain the position of the surface node to be positioned, so as to realize the instant positioning of the surface node not equipped with a GPS positioning device. 9. The marine wireless sensor network positioning method according to any one of claims 1 to 8, wherein the water surface node is a double-head node, and the upper end of the double-head node is used to communicate with other dual-head nodes by radio. The head node interacts, and the lower end of the double-head node is used to interact with the seabed node using underwater sound. 10. The marine wireless sensor network positioning method according to any one of claims 1 to 8, wherein the surface nodes equipped with GPS positioning devices and the connected submarine nodes are equipped with large-capacity power supply batteries.