关键词: 水下传感器网络，多面体质心算法，定位，ALS算法，导航

Abstract: In order to overcome the poor localization accuracy of both distance-based underwater localization algorithm and distance-independent underwater localization algorithm at present, this paper proposed a distance-independent polyhedron centroid algorithm with the optimization measures of adaptive network density, iterative location and relocation,periodically updating and forecasting, and simulation results show that not only the performance of polyhedron centroid localization algorithm is much better than ALS algorithm, and the localization accuracy can be significantly improved,but also this new localization algorithm reduces localization costs. Finally, it pointed out future research issues and trends of underwater localization algorithm.

Key words: Underwater sensor networks, Polyhedron centroid algorithm, Localization, ALS algorithm, Navigation