带AUVS水下传感器网络研究
|
摘要
无线传感器网络在当今民用和军用中都起着重大作用,并且引起了国内外的高度重视。随着人们对海洋的研究以及开发,水下传感器网络在海洋信息收集,航道检测,渔业资源调查,矿业资源勘测,特别是国家安全等方面已经发挥着重要作用.同时传感器节点携带能量小,功率低,能量消耗大,生命周期短,这给研究带来巨大挑战,但也提供了广大的研究空间。这样在寻求通信协议改进的同时也需要对通信方式的调整,而引入AUVS可以节省能量的使用。
文章借鉴陆地带移动收集节点的思想,并在现有国内外研究工作基础上,较深入地研究了带AUVS的水下传感器网络。分析了AUVS,节点,AUVS之间协调工作,采样方法,收集策略等众多组网要素;给出了用于文章仿真的包结构和信令单元;对于AUVS,分析其运动速度问题,运动轨迹给出原则,AUVS数量大小以及AUVS收集策略方案;借鉴矢量传感器指向较强的基本技术,给出对于传感器硬件要求比较高的全向采样,定向收集优化方案;考虑到网络节点密集度比较大,对同一事件均有信息收集时,过多冗余信息所带来的网络问题,给出了概率收集模型;水下多AUVS进行收集时,为了协调好AUVS彼此的工作,避免对于“共享”节点重复收集,给出了不同需要下的基本原则。
文章研究了较新颖的带AUVS的组网方案,这种组网方式可以简化网络结构,扩大运用范围;通过优化水下传感器网络性能,经过仿真,证明优化方案能减少了节点能量消耗,增加了网络寿命。
With the wide application in both civilian and military domains, wireless sensor network (WSN) has been highly focused on home and abroad. The advanced research and development on underwater sensor networks (UWSN) have played a vital role in the marine information collection, channel detection, investigation of fishery resources, and exploration of mineral resources, especially the national security. Therefore, the study of underwater sensor networks is a very meaningful task.
As the sensor nodes contains low energy, works in low power, have large overall energy consumption and short life, which bring great challenges to the researchers, but also provide vast space to be researched on. It is essentially to improve the communication protocols at the same time to adjust the means of communication.
This paper makes reference to the ideology of terrestrial sensor network, and the existing latest research work, which leads to my in-depth study of the underwater sensors with AUVS. This paper focuses on the performance of the underwater network with AUVS,and brings forward the adjustment to the placement of the nodes, which results in some improvement on performance of the entire networks. After simulation, it proves a good future.
This paper completes the following specific tasks: abandons underwater speed of sound transmission line model, uses in shallow water with the actual linear velocity model that is used in simulation and analysis of the AUVS, node, AUVS coordination, sampling methods, collecting strategies. And this paper brought forward the needed package and signaling units for simulating. As for AUVS, we designed the movement of speed limits and the principle of collecting the different trajectories, and the number of AUVS. At the same time, it solves the "share" node problem caused by multi-AUVS which brings multi-time collection, which avoids a repeat of the receiving unnecessary energy consumption. Taking into account the intensity of the network nodes comparison, the same incidents are information-gathering, information carried by too many redundant to the network, but a higher demand on the hardware is needed. This paper also builds a probabilistic model of the collection and sending data, to the performance of sensor networks which brings improvements in performance.
The research of this thesis optimized the underwater sensor networks to certain extend, especially, advanced research on newly network structure, with AUVS. It can expedite the underwater exploration and research。
文章借鉴陆地带移动收集节点的思想,并在现有国内外研究工作基础上,较深入地研究了带AUVS的水下传感器网络。分析了AUVS,节点,AUVS之间协调工作,采样方法,收集策略等众多组网要素;给出了用于文章仿真的包结构和信令单元;对于AUVS,分析其运动速度问题,运动轨迹给出原则,AUVS数量大小以及AUVS收集策略方案;借鉴矢量传感器指向较强的基本技术,给出对于传感器硬件要求比较高的全向采样,定向收集优化方案;考虑到网络节点密集度比较大,对同一事件均有信息收集时,过多冗余信息所带来的网络问题,给出了概率收集模型;水下多AUVS进行收集时,为了协调好AUVS彼此的工作,避免对于“共享”节点重复收集,给出了不同需要下的基本原则。
文章研究了较新颖的带AUVS的组网方案,这种组网方式可以简化网络结构,扩大运用范围;通过优化水下传感器网络性能,经过仿真,证明优化方案能减少了节点能量消耗,增加了网络寿命。
With the wide application in both civilian and military domains, wireless sensor network (WSN) has been highly focused on home and abroad. The advanced research and development on underwater sensor networks (UWSN) have played a vital role in the marine information collection, channel detection, investigation of fishery resources, and exploration of mineral resources, especially the national security. Therefore, the study of underwater sensor networks is a very meaningful task.
As the sensor nodes contains low energy, works in low power, have large overall energy consumption and short life, which bring great challenges to the researchers, but also provide vast space to be researched on. It is essentially to improve the communication protocols at the same time to adjust the means of communication.
This paper makes reference to the ideology of terrestrial sensor network, and the existing latest research work, which leads to my in-depth study of the underwater sensors with AUVS. This paper focuses on the performance of the underwater network with AUVS,and brings forward the adjustment to the placement of the nodes, which results in some improvement on performance of the entire networks. After simulation, it proves a good future.
This paper completes the following specific tasks: abandons underwater speed of sound transmission line model, uses in shallow water with the actual linear velocity model that is used in simulation and analysis of the AUVS, node, AUVS coordination, sampling methods, collecting strategies. And this paper brought forward the needed package and signaling units for simulating. As for AUVS, we designed the movement of speed limits and the principle of collecting the different trajectories, and the number of AUVS. At the same time, it solves the "share" node problem caused by multi-AUVS which brings multi-time collection, which avoids a repeat of the receiving unnecessary energy consumption. Taking into account the intensity of the network nodes comparison, the same incidents are information-gathering, information carried by too many redundant to the network, but a higher demand on the hardware is needed. This paper also builds a probabilistic model of the collection and sending data, to the performance of sensor networks which brings improvements in performance.
The research of this thesis optimized the underwater sensor networks to certain extend, especially, advanced research on newly network structure, with AUVS. It can expedite the underwater exploration and research。
引文
[1] G. C.Dickey, T.and M. Lewis. Toward a global ocean system for measurements of opticalproperties using remote sensing and in situ-observations, In: Remote Sensing of the Marine Environment: Manual of Remote Sensing, Vol.6, Ch. 9, edited by J. Gower, pp. 285-326,2006.
[2] Dickey.T.The emergence of concurrent high resolution physical and bio-optical measurements in the upper ocean and their applications, Rev. of Geophys., 1991,29,383-413.
[3] I.F.Akyildiz,D.Pompili,and T.Melodia. Underwater acoustic sensor networks: research challenges. Ad Hoc Networks (Elsevier), 2005, 3(3): 257–279.
[4] J.A.Rice, R.K.Creber, C.L.Fletcher, et al. Seaweb Undersea Acoustic Nets. Biennial Review 2001, SSC San Diego Technical Document TD3117: 234– 250.
[5] J.A.Rice. Telesonar Signaling and Seaweb Underwater Wireless Networks. Proceeding of NATO Symposium on New Information Processing Techniques for Military Systems, Turkey, RTO , MP-049: 1-13.
[6] P. S. Bogden, et al. Front-Resolving Observational Network with Telemetry. Proceeding of AGU Ocean Sciences Mtg., San Antonio, 2000.15-22.
[7] S. McGirr, K. Raysin, C. Ivancic, and C. Alspaugh. Simulation of underwater sensor networks. Proceeding of IEEE Oceans’99 Conference, Seattle WA. IEEE Press. 1999. 21-27.
[8] M.Grund, L.Freitag, J.Preisig, K.Ball.The PLUSNet Underwater Communications System: Acoustic Telemetry for Undersea Surveillance. In Proceeding of IEEE OCEANS 2006, Singapore, IEEE Press, 2006. 1-5.
[9] M. Stojanovic. On the Relationship Between Capacity and Distance in an Underwater Acoustic Communication Channel. 1st ACM Workshop on Underwater Networks, Los Angeles,CA, September 2006.
[10]许俊.水声语音通信研究: [博士学位论文].厦门大学图书馆. 2001.
[11]常宗虎,肖滨.AUV近海环境地形勘察案例[A].国防科学技术报告[R].2002.
[12]常宗虎.AUV软件体系结构和任务协调控制方法研究[D].哈尔滨:哈尔滨工程大学,2003.
[13] R.Jurdak, C.V.Lopes and P.Baldi. Battery Lifetime Estimation and Optimization for Underwater Sensor Networks. Sensor Network Operations, Wiley/IEEE Press. May,2006 (in press).
[14] Heidemann,J.Li,Y.Syed,A,Wills,J.Ye.Research Challenges and Applications for Underwater Sensor Networking, In Proceedings of the IEEE Wireless Communications and Networking Conference, p. to appear.Las Vegas, Nevada, USA, IEEE. April, 2006.
[15] Sozer,E,and Stojanovic,M, Simulation and Rapid Prototyping Environment for AUV Networks. in Proc.International Symposium on Unmanned Untethered Submersible Technology (UUST), 2005.
[16] B.Benson,G.Chang, D. Manov, B. Graham, and R. Kastner,“Design of a low-cost acoustic modem for moored oceanographic applications,”in Proc. of WUWNet, Sept. 2006.
[17] T.Fu,D.Donan,C.Utley,R.Iltis,R.Kastner and H.Lee,“Design and development of a software-defined underwater acoustic modem for sensor networks for environmental and ecological research,”in Proc. of OCEANS, Sept. 2006.
[18] Jason Hill, Robert Szewczyk, Alec Woo, Seth Hollar, David Culler, and Kristofer Pister. System architecture directions for networked sensors. In Proceedings of the 9th International Conference on Architectural Support for Programming Languages and Operating Systems, pages 93–104, Cambridge, MA, USA, November 2000.
[19] David Gay, Phil Levis, Rob von Behren, Matt Welsh, Eric Brewer, and David Culler. The nesc language: A holistic approach to networked embedded systems. In Proceedings of the ACM SIGPLAN Conference on Programming Language Design and Implementation PLDI, San Diego,CA, June 2003.
[20] R. A. Iltis, H. Lee, R. Kastner, D. Doonan, T. Fu, R. Moore and M.Chin.“An Underwater Acoustic Telemetry Modem for Eco-Sensing,”In proc. MTS/IEEE Oceans’05, September 2005.
[21] B. Li, S. Zhou, M. Stojanovic, and L. Freitag,“Pilot-tone based ZP-OFDM demodulation for an underwater acoustic channel,”in Proc. of OCEANS, Sept. 2006.
[22] C. V. Lopes and P. Aguiar.“Acoustic Modems for Ubiquitous Computing,”IEEE Pervasive Computing, Mobile and Ubiquitous Systems,Summer 2003.
[23] R. Jurdak, C.V. Lopes, and P. Baldi.“Software Acoustic Modems for Short Range Mote-based Underwater Sensor Networks,”In Proc. Of IEEE Oceans Asia Pacific. Singapore. May, 2006.
[24] S. Mallat and Z. Zhang,“Matching pursuits with time-frequency dictionaries,”IEEE Transactions on Signal Processing, vol.41,December 1993, pp. 3397-3415.
[25] Vajapeyam,M.Mitra,U.Preisig J.and Stojanovic,M.Distributed TR-STBC schemes for cooperative underwater acoustic communications. In Proceedings of Oceans’06 Asia Pacific. (Singapore,May 2006)
[26] Wei Ye, John Heidemann, and Deborah Estrin. A flexible and reliable radio communication stack on motes.Technical Report ISI-TR-565, USC Information Sciences Institute, September 2002.
[27] M. Stojanovic, J. A. Catipovic, and J. G. Proakis,“Phase-coherent digital communications for underwater acoustic channels,”IEEE Journal of Oceanic Engineering, vol. 19, no. 1, pp. 100–111, Jan. 1994.
[28] M. Stojanovic,“Low complexity OFDM detector for underwater channels,”in Proc. of MTS/IEEE OCEANS conference, Boston, MA, Sept.18-21, 2006.
[29] A. K. Morozov and J. C. Preisig,“Underwater acoustic communications with multi-carrier modulation,”in Proc. of MTS/IEEE OCEANS conference, Boston, MA, Sept. 18-21, 2006.
[30] E.S¨ozer, M.Stojanovic, and J.Proakis. Underwater Acoustic Networks. IEEE J. Oceanic Eng, 25(1):72–83, Jan. 2000.
[31] J.H.Cui, J.Kong, M.Gerla, and S.Zhou. Challenges:Building Scalable Mobile Underwater Wireless SensorNetworks for Aquatic Applications. IEEE Network, Special Issue on Wireless Sensor Networking, 20(3):12–18.May/June 2006.
[32] P.Karn. MACA– A new channel access method for packet radio. In ARRL/CRRL Amateur Radio 9th Computer Networking Conf.1990.
[33] J.Rice. Seaweb Acoustic Communication and Navigation Networks. In Proc. Int. Conf. Underwater Acoustic Measurements: Technologies & Results, July 2005.
[34] G.A?car and A.E.Adams.ACMENet:an underwater acoustic sensor network for real-time environmental monitoring in coastal areas. IEE Proc.Radar, Sonar, and Nav, 153(4):365–380, Aug. 2006.
[35] S.Smith, J.C.Park, and A.Neel. A Peer-to-Peer Communication Protocol for Underwater Acoustic Communication. In Proc. IEEE Oceans 1997, volume 1,pp268–272,Oct.1997.
[36] G.Lapierre, L.Chevallier, F.Gallaud, and G.Ayela. Design of a communication protocol for underwater acoustic modems and networks. In Proc. IEEE Oceans 2001,volume 4, pages 2220–2226, Nov. 2001.
[37] C.L.Fullmer and J.J.Garcia-Luna-Aceves. Floor acquisition multiple access (FAMA) for packet-radio networks. In SIGCOMM’95: Proc. Conf. Appl., tech., arch., and protocols for computer communication, pages 262–273.1995.
[38] F.Salv′a-Garau and M.Stojanovic. Multi-Cluster Protocol for Ad Hoc Mobile Underwater Acoustic Networks. In Proc IEEE OCEANS’03 Conf.Sept.2003.
[39] H.Doukkali and L.Nuaymi. Analysis of MAC protocols for Underwater Acoustic Data Networks. In Proc. IEEE Vehicular Tech. Conf., May 2005
[40] M.K.Park and V.Rodoplu. UWAN-MAC: An Energy-Efficient MAC Protocol for Underwater Acoustic Wireless Sensor Networks. Submitted to IEEE J.Oceanic Eng, Mar. 2006.
[41] M.Stojanovic and L.Freitag. Multichannel Detection for Wideband Underwater Acoustic CDMA Communications.Accepted, IEEE J. Oceanic Eng, 2006.
[42] M.Stojanovic and Z.Zvonar. Multichannel Processing of Broad-Band Multiuser Communication Signals in Shallow Water Acoustic Channels.IEEE J.Oceanic Eng,21(2):156–166, Apr. 1996.
[43] I.P.Morns, O.Hilton, A.Adams, and B.Sharif. Protocols for sub-sea communications networks. In Proc.IEEE Oceans 2001,2001.
[44] C.E.Perkins and P.Bhagwat.Highly Dynamic Destination-Sequenced Distance-Vector Routing (DSDV) for Mobile Computers. In Proceedings of the ACM SIGCOMM 1994, London: ACM Press,1994.234–244.
[45] P.Jacquet,P.Muhlethaler,T.Clausen,et al.Optimized link state routing protocol for ad hoc networks. In: Proceedings of the IEEE International Multi Topic Conference (INMIC 2001). Pakistan: IEEE Press, 2001.62-68.
[46] David B.Johnson and David A.Maltz. Dynamic source routing in ad hoc wireless networks. In Mobile Computing,edited by Tomasz Imielinski and Hank Korth,chapter 5,pages 153–181. Kluwer Academic Publishers,1996.
[47] C.E.Perkins and E.M.Royer.Ad-Hoc On-Demand Distance Vector Routing. In Proceedings of the 2nd IEEE Workshop on Mobile Computing Systems and Applications (WMCSA’99), New Orleans: IEEE Press, 1999. 90–100.
[48] P. Bose, P. Morin, I. Stojmenovic, J. Urrutia, Routing with guaranteed delivery in ad hoc wireless networks, ACM Wireless Networks 7 (6) (2001) 609-616.
[49] T.Melodia,D.Pompili,I.F.Akyildiz,Optimal local topology knowledge for energy efficient geographical routing in sensor networks, in: Proceedings of IEEE INFOCOM’04, Hong Kong SAR, PRC, March 2004.
[50] Peng Xie, Jun-Hong Cui, et al. VBF: Vector-Based Forwarding Protocol for Underwater Sensor Networks. UCONN CSE Technical Report: Ubinet-TR05-03, Feb 2006.
[51] E. Sozer, M. Stojanovic, and J. Proakis.Underwater Acoustic Networks. IEEE Journal of Oceanic Engineering, 2000, 25(1):72–83.
[52] V.Chandrasekhar,W.K.Seah,Y.S. Choo, and H.V.Ee,“Localization in underwater sensor networks: survey and challenges,”in WUWNet’06.
[53] J.Aspnes,W.Whiteley,and Y.R.Yang,“A theory of network localization,”IEEE Transactions on Mobile Computing, 2006.
[54] Melike Erol,Luiz F.M.Vieria,and Mario Gerla,”Localization with Dive’N’Rise (DNR) Beacons forUnderwater Acoustic Sensor Networks”WUWNet’07, ACM 978,,September 14, 2007.
[55]卢峰,陈孝桢.AUV波振面水声精确定位.机器人.25(1):22-30.
[56]常宗虎,肖滨.AUV近海环境地形勘察案例[A].国防科学技术报告[R].2002.
[57]常宗虎.AUV软件体系结构和任务协调控制方法研究[D].哈尔滨:哈尔滨工程大学,2003.
[58]常宗虎等.AUV实时任务协调方法研究.哈尔滨工程大学学报.25(4):472-476.
[59]林先澄.AUV作业系统信息仿真建构及软件实现.船舶电子工程.24(3):70-74.
[60] N.N. Soreide, C.E. Woody, S.M. Holt, Overview of ocean based buoys and drifters: Present applications and future needs, in: 16th International Conference on Interactive Information and Processing Systems (IIPS) forMeteorology, Oceanography, and Hydrology, January 2004.
[61] P.Ogren,E.Fiorelli,N.E.Leonard,Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment,IEEE Transactions on Automatic Control 49 (8) (2004):1292-1302P
[62] LF. Akyildiz, W. Su, Y. Sankara subramaniam,E.Cayirci. Wireless sensor networks:A survev. Computer Networks 38 (41(20021:393-422P.
[63] J.L.Butler,S.C.Butler,D.P.Massa,and G.H.Cavanath.Metalic glass velocity sensor.101-133p
[64] Jim Partan,Jim Kurose,and barian Neil Levine,”A survey of practical issues in underwater network”,WUWNet 06 Sept 25,2006.
[65] M.Hwakes and A.Nehorai.Acoustic vector-sensor beam forming and Capon direction estimation.IEEE Transactions on Signal Proeessing.1998,46:991一997P.
[66] NehoraiandE.Paldi.Acoustic vector-sensor array proeessing.in Proe.26th Asilomar Conf.on Signals,Syst,andComPut.Pae1fie Grove,CA.2002:192-198P.
[67]杨德森等,矢量水听器湖试报告,中国国防科学技术报告,哈尔滨工程大学水声研究所,1998.10.
[68]杨德森等,矢量水听器海试报告,中国国防科学技术报告,哈尔滨工程大学水声研究所,2000.9.
[69] M.Hawkes and A.Nehorai.Acoustic vector sensor beam forming and Capon direction estimation.in Proe.Int.Conf.Acoust.Speeeh.SignalProeess.(ICASSP) ,Detroit,Ml,2003:1673-1676P
[70] Yihong Wu,Lin Zhang,Yiqun Wu,Zhisheng Niu.Interest Dissemination with Directional Antennas for Wireless Sensor Networks with Mobile Sinks.ACMConf.Sensys’06. NOV.1-3. 2006:pp99-111.
[2] Dickey.T.The emergence of concurrent high resolution physical and bio-optical measurements in the upper ocean and their applications, Rev. of Geophys., 1991,29,383-413.
[3] I.F.Akyildiz,D.Pompili,and T.Melodia. Underwater acoustic sensor networks: research challenges. Ad Hoc Networks (Elsevier), 2005, 3(3): 257–279.
[4] J.A.Rice, R.K.Creber, C.L.Fletcher, et al. Seaweb Undersea Acoustic Nets. Biennial Review 2001, SSC San Diego Technical Document TD3117: 234– 250.
[5] J.A.Rice. Telesonar Signaling and Seaweb Underwater Wireless Networks. Proceeding of NATO Symposium on New Information Processing Techniques for Military Systems, Turkey, RTO , MP-049: 1-13.
[6] P. S. Bogden, et al. Front-Resolving Observational Network with Telemetry. Proceeding of AGU Ocean Sciences Mtg., San Antonio, 2000.15-22.
[7] S. McGirr, K. Raysin, C. Ivancic, and C. Alspaugh. Simulation of underwater sensor networks. Proceeding of IEEE Oceans’99 Conference, Seattle WA. IEEE Press. 1999. 21-27.
[8] M.Grund, L.Freitag, J.Preisig, K.Ball.The PLUSNet Underwater Communications System: Acoustic Telemetry for Undersea Surveillance. In Proceeding of IEEE OCEANS 2006, Singapore, IEEE Press, 2006. 1-5.
[9] M. Stojanovic. On the Relationship Between Capacity and Distance in an Underwater Acoustic Communication Channel. 1st ACM Workshop on Underwater Networks, Los Angeles,CA, September 2006.
[10]许俊.水声语音通信研究: [博士学位论文].厦门大学图书馆. 2001.
[11]常宗虎,肖滨.AUV近海环境地形勘察案例[A].国防科学技术报告[R].2002.
[12]常宗虎.AUV软件体系结构和任务协调控制方法研究[D].哈尔滨:哈尔滨工程大学,2003.
[13] R.Jurdak, C.V.Lopes and P.Baldi. Battery Lifetime Estimation and Optimization for Underwater Sensor Networks. Sensor Network Operations, Wiley/IEEE Press. May,2006 (in press).
[14] Heidemann,J.Li,Y.Syed,A,Wills,J.Ye.Research Challenges and Applications for Underwater Sensor Networking, In Proceedings of the IEEE Wireless Communications and Networking Conference, p. to appear.Las Vegas, Nevada, USA, IEEE. April, 2006.
[15] Sozer,E,and Stojanovic,M, Simulation and Rapid Prototyping Environment for AUV Networks. in Proc.International Symposium on Unmanned Untethered Submersible Technology (UUST), 2005.
[16] B.Benson,G.Chang, D. Manov, B. Graham, and R. Kastner,“Design of a low-cost acoustic modem for moored oceanographic applications,”in Proc. of WUWNet, Sept. 2006.
[17] T.Fu,D.Donan,C.Utley,R.Iltis,R.Kastner and H.Lee,“Design and development of a software-defined underwater acoustic modem for sensor networks for environmental and ecological research,”in Proc. of OCEANS, Sept. 2006.
[18] Jason Hill, Robert Szewczyk, Alec Woo, Seth Hollar, David Culler, and Kristofer Pister. System architecture directions for networked sensors. In Proceedings of the 9th International Conference on Architectural Support for Programming Languages and Operating Systems, pages 93–104, Cambridge, MA, USA, November 2000.
[19] David Gay, Phil Levis, Rob von Behren, Matt Welsh, Eric Brewer, and David Culler. The nesc language: A holistic approach to networked embedded systems. In Proceedings of the ACM SIGPLAN Conference on Programming Language Design and Implementation PLDI, San Diego,CA, June 2003.
[20] R. A. Iltis, H. Lee, R. Kastner, D. Doonan, T. Fu, R. Moore and M.Chin.“An Underwater Acoustic Telemetry Modem for Eco-Sensing,”In proc. MTS/IEEE Oceans’05, September 2005.
[21] B. Li, S. Zhou, M. Stojanovic, and L. Freitag,“Pilot-tone based ZP-OFDM demodulation for an underwater acoustic channel,”in Proc. of OCEANS, Sept. 2006.
[22] C. V. Lopes and P. Aguiar.“Acoustic Modems for Ubiquitous Computing,”IEEE Pervasive Computing, Mobile and Ubiquitous Systems,Summer 2003.
[23] R. Jurdak, C.V. Lopes, and P. Baldi.“Software Acoustic Modems for Short Range Mote-based Underwater Sensor Networks,”In Proc. Of IEEE Oceans Asia Pacific. Singapore. May, 2006.
[24] S. Mallat and Z. Zhang,“Matching pursuits with time-frequency dictionaries,”IEEE Transactions on Signal Processing, vol.41,December 1993, pp. 3397-3415.
[25] Vajapeyam,M.Mitra,U.Preisig J.and Stojanovic,M.Distributed TR-STBC schemes for cooperative underwater acoustic communications. In Proceedings of Oceans’06 Asia Pacific. (Singapore,May 2006)
[26] Wei Ye, John Heidemann, and Deborah Estrin. A flexible and reliable radio communication stack on motes.Technical Report ISI-TR-565, USC Information Sciences Institute, September 2002.
[27] M. Stojanovic, J. A. Catipovic, and J. G. Proakis,“Phase-coherent digital communications for underwater acoustic channels,”IEEE Journal of Oceanic Engineering, vol. 19, no. 1, pp. 100–111, Jan. 1994.
[28] M. Stojanovic,“Low complexity OFDM detector for underwater channels,”in Proc. of MTS/IEEE OCEANS conference, Boston, MA, Sept.18-21, 2006.
[29] A. K. Morozov and J. C. Preisig,“Underwater acoustic communications with multi-carrier modulation,”in Proc. of MTS/IEEE OCEANS conference, Boston, MA, Sept. 18-21, 2006.
[30] E.S¨ozer, M.Stojanovic, and J.Proakis. Underwater Acoustic Networks. IEEE J. Oceanic Eng, 25(1):72–83, Jan. 2000.
[31] J.H.Cui, J.Kong, M.Gerla, and S.Zhou. Challenges:Building Scalable Mobile Underwater Wireless SensorNetworks for Aquatic Applications. IEEE Network, Special Issue on Wireless Sensor Networking, 20(3):12–18.May/June 2006.
[32] P.Karn. MACA– A new channel access method for packet radio. In ARRL/CRRL Amateur Radio 9th Computer Networking Conf.1990.
[33] J.Rice. Seaweb Acoustic Communication and Navigation Networks. In Proc. Int. Conf. Underwater Acoustic Measurements: Technologies & Results, July 2005.
[34] G.A?car and A.E.Adams.ACMENet:an underwater acoustic sensor network for real-time environmental monitoring in coastal areas. IEE Proc.Radar, Sonar, and Nav, 153(4):365–380, Aug. 2006.
[35] S.Smith, J.C.Park, and A.Neel. A Peer-to-Peer Communication Protocol for Underwater Acoustic Communication. In Proc. IEEE Oceans 1997, volume 1,pp268–272,Oct.1997.
[36] G.Lapierre, L.Chevallier, F.Gallaud, and G.Ayela. Design of a communication protocol for underwater acoustic modems and networks. In Proc. IEEE Oceans 2001,volume 4, pages 2220–2226, Nov. 2001.
[37] C.L.Fullmer and J.J.Garcia-Luna-Aceves. Floor acquisition multiple access (FAMA) for packet-radio networks. In SIGCOMM’95: Proc. Conf. Appl., tech., arch., and protocols for computer communication, pages 262–273.1995.
[38] F.Salv′a-Garau and M.Stojanovic. Multi-Cluster Protocol for Ad Hoc Mobile Underwater Acoustic Networks. In Proc IEEE OCEANS’03 Conf.Sept.2003.
[39] H.Doukkali and L.Nuaymi. Analysis of MAC protocols for Underwater Acoustic Data Networks. In Proc. IEEE Vehicular Tech. Conf., May 2005
[40] M.K.Park and V.Rodoplu. UWAN-MAC: An Energy-Efficient MAC Protocol for Underwater Acoustic Wireless Sensor Networks. Submitted to IEEE J.Oceanic Eng, Mar. 2006.
[41] M.Stojanovic and L.Freitag. Multichannel Detection for Wideband Underwater Acoustic CDMA Communications.Accepted, IEEE J. Oceanic Eng, 2006.
[42] M.Stojanovic and Z.Zvonar. Multichannel Processing of Broad-Band Multiuser Communication Signals in Shallow Water Acoustic Channels.IEEE J.Oceanic Eng,21(2):156–166, Apr. 1996.
[43] I.P.Morns, O.Hilton, A.Adams, and B.Sharif. Protocols for sub-sea communications networks. In Proc.IEEE Oceans 2001,2001.
[44] C.E.Perkins and P.Bhagwat.Highly Dynamic Destination-Sequenced Distance-Vector Routing (DSDV) for Mobile Computers. In Proceedings of the ACM SIGCOMM 1994, London: ACM Press,1994.234–244.
[45] P.Jacquet,P.Muhlethaler,T.Clausen,et al.Optimized link state routing protocol for ad hoc networks. In: Proceedings of the IEEE International Multi Topic Conference (INMIC 2001). Pakistan: IEEE Press, 2001.62-68.
[46] David B.Johnson and David A.Maltz. Dynamic source routing in ad hoc wireless networks. In Mobile Computing,edited by Tomasz Imielinski and Hank Korth,chapter 5,pages 153–181. Kluwer Academic Publishers,1996.
[47] C.E.Perkins and E.M.Royer.Ad-Hoc On-Demand Distance Vector Routing. In Proceedings of the 2nd IEEE Workshop on Mobile Computing Systems and Applications (WMCSA’99), New Orleans: IEEE Press, 1999. 90–100.
[48] P. Bose, P. Morin, I. Stojmenovic, J. Urrutia, Routing with guaranteed delivery in ad hoc wireless networks, ACM Wireless Networks 7 (6) (2001) 609-616.
[49] T.Melodia,D.Pompili,I.F.Akyildiz,Optimal local topology knowledge for energy efficient geographical routing in sensor networks, in: Proceedings of IEEE INFOCOM’04, Hong Kong SAR, PRC, March 2004.
[50] Peng Xie, Jun-Hong Cui, et al. VBF: Vector-Based Forwarding Protocol for Underwater Sensor Networks. UCONN CSE Technical Report: Ubinet-TR05-03, Feb 2006.
[51] E. Sozer, M. Stojanovic, and J. Proakis.Underwater Acoustic Networks. IEEE Journal of Oceanic Engineering, 2000, 25(1):72–83.
[52] V.Chandrasekhar,W.K.Seah,Y.S. Choo, and H.V.Ee,“Localization in underwater sensor networks: survey and challenges,”in WUWNet’06.
[53] J.Aspnes,W.Whiteley,and Y.R.Yang,“A theory of network localization,”IEEE Transactions on Mobile Computing, 2006.
[54] Melike Erol,Luiz F.M.Vieria,and Mario Gerla,”Localization with Dive’N’Rise (DNR) Beacons forUnderwater Acoustic Sensor Networks”WUWNet’07, ACM 978,,September 14, 2007.
[55]卢峰,陈孝桢.AUV波振面水声精确定位.机器人.25(1):22-30.
[56]常宗虎,肖滨.AUV近海环境地形勘察案例[A].国防科学技术报告[R].2002.
[57]常宗虎.AUV软件体系结构和任务协调控制方法研究[D].哈尔滨:哈尔滨工程大学,2003.
[58]常宗虎等.AUV实时任务协调方法研究.哈尔滨工程大学学报.25(4):472-476.
[59]林先澄.AUV作业系统信息仿真建构及软件实现.船舶电子工程.24(3):70-74.
[60] N.N. Soreide, C.E. Woody, S.M. Holt, Overview of ocean based buoys and drifters: Present applications and future needs, in: 16th International Conference on Interactive Information and Processing Systems (IIPS) forMeteorology, Oceanography, and Hydrology, January 2004.
[61] P.Ogren,E.Fiorelli,N.E.Leonard,Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment,IEEE Transactions on Automatic Control 49 (8) (2004):1292-1302P
[62] LF. Akyildiz, W. Su, Y. Sankara subramaniam,E.Cayirci. Wireless sensor networks:A survev. Computer Networks 38 (41(20021:393-422P.
[63] J.L.Butler,S.C.Butler,D.P.Massa,and G.H.Cavanath.Metalic glass velocity sensor.101-133p
[64] Jim Partan,Jim Kurose,and barian Neil Levine,”A survey of practical issues in underwater network”,WUWNet 06 Sept 25,2006.
[65] M.Hwakes and A.Nehorai.Acoustic vector-sensor beam forming and Capon direction estimation.IEEE Transactions on Signal Proeessing.1998,46:991一997P.
[66] NehoraiandE.Paldi.Acoustic vector-sensor array proeessing.in Proe.26th Asilomar Conf.on Signals,Syst,andComPut.Pae1fie Grove,CA.2002:192-198P.
[67]杨德森等,矢量水听器湖试报告,中国国防科学技术报告,哈尔滨工程大学水声研究所,1998.10.
[68]杨德森等,矢量水听器海试报告,中国国防科学技术报告,哈尔滨工程大学水声研究所,2000.9.
[69] M.Hawkes and A.Nehorai.Acoustic vector sensor beam forming and Capon direction estimation.in Proe.Int.Conf.Acoust.Speeeh.SignalProeess.(ICASSP) ,Detroit,Ml,2003:1673-1676P
[70] Yihong Wu,Lin Zhang,Yiqun Wu,Zhisheng Niu.Interest Dissemination with Directional Antennas for Wireless Sensor Networks with Mobile Sinks.ACMConf.Sensys’06. NOV.1-3. 2006:pp99-111.