Recent advances in wireless communication, integrated circuit, sensor technology and MEMS have made it possible to deploy large scale wireless sensor networks (WSNs) by using low-cost and low-power sensor nodes. In emerging WSNs applications, it is necessary to accurately position the nodes where their reported data are geographically meaningful. In WSNs, how to design a fast converging and low-cost method to accurately estimate the locations of the nodes, is always an active area. Supported by the key project of NSFC (National Science Foundation of China), this paper focuses on the localization algorithms of static and mobile underwater sensor networks. And the contents are as below. Firstly, the background of underwater sensor networks is described. The research progress of localization algorithms about static and mobile underwater sensor networks is given. The paper structure is also introduced. Secondly, iterative positioning algorithm based on range and relative angle between nodes (IPARA) is proposed. In order to reducing the positioning error, the optimization algorithm is integrated into IPARA, and the algorithms with global optimization (IPARA-GO) and distributed optimization (IPARA-DO) are presented. Thirdly, the algorithm based on the nodes’ mobility is proposed to position the mobile nodes in the underwater sensor networks without anchors. And event-driven algorithm for mobile node localization is presented when the network contains some anchors. Fourthly, a layered anchor node distribution method is proposed to deploy the anchor nodes in the water. The layer number and the anchor node number in each layer are calculated according to the length, width and depth of the concerned area. Fifthly, a simulation platform is developed to test the performance of the proposed localization algorithms under different network parameters. Finally, the conclusions are given and future work is addressed.
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