提出了基于无线传感器网络的浮标网络水下GPS定位系统模型，分析了

该模型的结构、功能以及工作过程，并从几何角度探讨了水下目标的声学定位算

法。结合Range-Free算法与分布式算法的思想，设计了一种传感器节点自定位算

法，称为BSR（Beacons Signal Ring）定位算法，并对该算法的性能进行了评估与

比较。该算法在锚节点处的信标信号中引入能量等级的机制，无需相邻传感器节

点间信息交换，有效降低了算法复杂度与通信开销。性能分析结果显示，该算法

性能良好，在应用环境下相比于APIT算法与质心算法具有更低的位置估计误差。

论文还研究了基于双元检测传感器的协作式的目标跟踪策略，对相应的跟踪过程

进行了描述。提出了使用加权质心算法的目标位置估计模型，以及线性预测机制，

使跟踪过程具有较小的计算和通信代价。-In this thesis,we presents a buoy network of underwater GPS positioning system

model based on the wireless sensor network.The structure,function and process in the

model were analyzed.Underwater target acoustic localization algorithm were explored

through geometry way.Combined with the idea of Range-Free algorithm and distributed

algorithm,a sensor nodes self-localization algorithm were designed,which called BSR

(Beacons Signal Ring)localization algorithm,the algorithm performance evaluation and

comparison has also been presented.The algorithm use a small number of anchor nodes.

Each anchor emits beacons at different power levels.This mechanism does not required

information exchange between neighboring sensors,and reduced the complexity of the

algorithm and communication overhead effectively.The results of performance analysis

showed that BSR provides a lower position estimation error than APIT and Centroid

under a wide range of conditions.The thesis introduced process of ta