A Fusion Method of Heterogeneous Information for Sea-surface Wireless Sensor Networks Positioning

To solve the precise positioning issue of underwater maneuver targets (UMTs), based on sea-surface wireless sensor networks (S
²
WSN) technique, this paper proposes a new positioning algorithm without exterior satellite-based or earth-based wireless navigation information as well as underwater space-time datum. The measure equations of UMT's positioning are assembled by combining the relative radio ranges among ships with the angles of arrivals (AOAs) from UMT. Meanwhile, Helmert variance estimation technology is utilized to resolve the mismatch problem of weight ratio in heterogeneous information fusion between radio range and AOAs. Monte Carlo simulation shows that the bias of the proposed algorithm, in which the weight of heterogeneous information is adaptively adjusted by Helmert technology.