The rapid development of underwater acoustic sensor networks(UASNs) will greatly improve people's ability to perceive and apply the ocean. The positional information of network nodes plays a vital role in UASNs system. Aiming at the problems of multiple access interference and location beacon selection in traditional location methods, this paper proposes a multiple access method combined with FDMA / CDMA, which optimizes the division of frequency band and orthogonal code resources according to the network topology to ensure that different beacon nodes send location signals with different frequencies and different orthogonal code compared, so as to realize conflict free multiple access of multiple location signals. This paper also proposes a network beacon autonomous switching method, which optimizes the transmission time of control command according to the position relationship between its own position and network nodes, updates the positioning beacon in real-time, and realizes the cross regional autonomous navigation and positioning of underwater mobile nodes. The method in this paper is verified by simulation and sea trial.
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