Underwater Mobility Positioning for Coverage Planning with Floating Anchor Node External Correction

The underwater environment is a class of typical enclosed environments, where the satellite signals are unavailable in underwater. To support the huge applications of underwater mobile targets, underwater wireless sensor networks (UWSNs) can be applied to monitor and locate these targets. As an effective and distributed sensor measurement method, anchor nodes inevitably have the coordinate drift caused by water flow effect. This paper proposes a coverage planning strategy to ensure network full coverage. Meanwhile, we outline the detail implementation of cooperative correction strategy about satellite signal water surface method and anchor node instable coordinate as simple as possible. The results show that the proposed underwater positioning methods can achieve real-time position, which can provide the reference for mobile targets navigation and path planning, and lay the basis for collaborative automation of mobile targets in the similar engineer applications.