Underwater Node Localization Based on Outlier Detection and Sound Refraction
ZHOU Minghu
ZHAO Yingliang
HAN Xingcheng
HUANG Jiayang
WANG Guoxiang
Abstract：Although the ray tracing method based on the normal gradient sound velocity model can solve the problem of nonlin-ear bending of sound lines,it is easily affected by the outliers of sound velocity and has high computational complexity.In order to solve this challenge,an underwater node localization algorithm based on outlier detection and sound refraction is proposed.Firstly,the outlier detection method based on the Median Deviation of the Local Moving Window(MBW)is used to eliminate the anomalous sound velocity value,and the actual propagation path of the sound wave is fitted by ray tracing method based on the normal gradient sound velocity model.Then,the travel time is measured using a round-trip time(RRT)measurement.Then,based on the normal gradient sound velocity equation and depth information,the equivalent slant distance is calculated,that is,the straight-line dis-tance between the starting and ending points of the sound wave.Finally,the position of the underwater node is determined by solv-ing the equation between the position of the underwater node and the slope distance.The simulation results show that the proposed al-gorithm has certain advantages,the average error of the final positioning is about 1.5 m,the positioning efficiency is about 1.4 times higher than that of the dichotomous method,and about 5 times higher than that of the traversal search method.
Keywords：outlier detectionround-trip timeray tracingacoustic refractionaccelerated bisection
Publication Date：2025-11-20
Online Publishing Date：2026-01-28(First online date of this platform, not the publication date of the document)
Pages：6( 194-199 )