Efficient particle filter node positioning method for ocean sensor networks

Abstract

The application relates to an efficient particle filter node positioning method for ocean sensor networks, including the following steps: 1) obtaining a first state vector of mean value of posterior probability at k−1 moment; 2) establishing the state model of the nonlinear system; 3) obtaining the observation model of the nonlinear system; 4) propagating particles, and calculating the state vector ūat the next moment according to the particle vector at k−1 moment; 5) obtaining the observed value and calculating the weight; 6) judging whether it is degraded, if not, the weight is used to calculate the position expectation, otherwise, 7) is executed; 7) modifying small-weight particles; 8) resampling the improved residual and normalizing the weights; and 9) using the weight of 8) to calculate the position expectation and realize node positioning.