计量学报2026，Vol.47Issue(2)：173-182,10.DOI:10.3969/j.issn.1000-1158.2026.02.03
基于自主水下机器人的水下恶意节点检测算法
Underwater Malicious Node Detection Algorithm Based on Autonomous Underwater Vehicle
摘要
Abstract
In order to address the issue of malicious nodes transmitting false data during underwater localization,which compromises the positioning accuracy of underwater wireless sensor network(UWSN)nodes,a malicious node detection algorithm(AUV-MNDA)is proposed based on autonomous underwater vehicle(AUV).The algorithm collects information such as the number of communication successes,false coordinates,and signal reception indication strength through the information interaction between the AUV and the nodes in the network,establishes three kinds of credibility indexes,namely,communication success rate,communication data authenticity and degree of communication non-delay,and then combines the information entropy of the credibility indexes to obtain a collection of credibility evaluation.Furthermore,considering the potential for malicious defamation by the AUV,the algorithm introduces a recursive optimization detection mechanism that weights the progressively refined node reputation evaluations,effectively detecting malicious evaluations and thereby enhancing positioning accuracy.Simulation results indicate that when the proportion of malicious nodes is below 50%,the AUV-MNDA algorithm can maintain a detection accuracy exceeding 90%.In addition,compared to the MNDA,LABTM,and TMIS algorithms,the AUV-MNDA algorithm decreases the underwater node localization error by 6%,8%,and 16%,respectively.关键词
恶意节点检测/节点定位/自主水下机器人/信誉度指标/水下无线传感网络/三边定位法Key words
malicious node detection/node localization/autonomous underwater vehicle/credibility indexes/underwater wireless sensor network/trilateration分类
通用工业技术引用本文复制引用
刘浩然,尹晨懿,覃玉华,赵世伟,张凡..基于自主水下机器人的水下恶意节点检测算法[J].计量学报,2026,47(2):173-182,10.基金项目
河北省自然科学基金(D2024203008) （D2024203008）
广西民族大学引进人才科研启动项目(2024KJQD214) （2024KJQD214）
广西高校中青年教师科研基础能力提升项目(2025KY0209) （2025KY0209）
广西青年科技人才工程资助项目(GXYESS2025202) （GXYESS2025202）
