中文摘要：

定位问题是水声传感器网络研究领域的关键技术之一。目前大部分定位算法集中在定位算法的改进，忽视节点部署模型对定位精度的影响。提出一种用于定位的正三角形节点部署模型，在二维空间下，将锚节点以正三角的形式均匀部署，在定位区域内，未知节点总会处于以锚节点为顶点的正三角形中。在这个部署模型下，提出一种定位算法。通过Matlab进行仿真实验，结果表明，最小二乘法，Chan算法和改进算法按正三角形部署的节点模型的平均定位误差小于同节点密度下的均匀随机部署模型。在相同的节点部署密度下，正三角形模型部署下的改进算法稳定性要好于最小二乘法和Chan算法。

英文摘要：

Localisation problem is one of the key technologies in underwater acoustic sensor network research. Currently, most of positioning algorithms focus on improving the positioning algorithm, but neglect the impact of node deployment model on positioning accuracy. We put forward an equilateral triangle nodes deployment model for positioning, in which the anchor nodes are deployed uniformly in equilateral triangle form in two-dimensional space, making the unknown nodes be always in the equilateral triangle, which takes the anchor points as vertices, within the localisation area. Based on this deployment model we put forward a positioning algorithm. Through simulation experiments on Matlab, the results showed that the average position errors of the node models deployed in equilateral triangle using three algorithms of the least square algorithm, the Chan algorithm and the improved algorithm were all less than that of the uniform random deployment model under same node density. Under same node deployment density, the improved algorithm had better stability than the least square algorithm and Chan algorithm in equilateral triangle-deployed model.