AUV辅助的水下传感器网络时钟同步算法

针对当前水下传感器网络中的时钟同步难题，设计了一种三元阵被动定位自主水下航行器（ AUV）模型，并基于此模型提出了AUV辅助的时钟同步（ AUV-Sync）算法。该算法通过AUV与节点之间相对运动过程中进行的信息交换来对节点相对距离进行估计，进而基于相对距离计算单向传播时延来降低由于节点移动性所导致的误差。最后，通过两轮加权最小二乘法进行线性回归来估计时钟同步的参数。仿真结果表明：在存在节点漂移的动态水下传感器网络环境中，该算法较其他相关算法有更高的精度。

AUV-assisted time synchronization algorithm for underwater sensor networks

Aiming at problem of time synchronization in underwater sensor networks,a model for autonomous underwater vehicle( AUV)based on three-element array passive positioning method is designed. Based on this model,propose an AUV-assisted time synchronization algorithm( AUV-Sync),which estimates relative distance by message exchange in process of relative movement between AUV and sensor nodes,and reduce error caused by nodes mobility by computing one-way propagation delay based on relative distance. By two rounds weighted least squares estimation(WLSE)to perform linear regression to estimate time synchronization parameters. Simulation results show that the AUV-Sync outperforms the existing synchronization algorithms for dynamic underwater sensor networks in precision considering drift of nodes.