A zeroing neurodynamics-based location method for nodes in underwater acoustic sensor network

Zeroing neurodynamics methodology, which dedicates to finding equilibrium points of equations, has been proven to be a powerful tool in the online solving of problems with considerable complexity. In this paper, a method for underwater acoustic sensor network (UASN) localisation is proposed based on zeroing neurodynamics methodology to preferably locate moving underwater nodes. A zeroing neurodynamics model specifically designed for UASN localisation is constructed with rigorous theoretical analyses of its effectiveness. The proposed zeroing neurodynamics model is compatible with some localisation algorithms, which can be utilised to eliminate error in non-ideal situations, thus further improving its effectiveness. Finally, the effectiveness and compatibility of the proposed zeroing neurodynamics model are substantiated by examples and computer simulations.