中文摘要：

为了及时检测出水下传感器网络（UWSN）定位系统中的恶意锚节点，提出一种基于信任机制的节点安全定位算法。算法结合簇结构和信任机制，根据锚节点提供的位置信息采用Beta分布作出初步信任评价，并可根据需要调整信任更新权重。为了降低了水声信道的不稳定性对信任评价过程的影响，同时识别恶意锚节点的信任欺骗行为，提出信任过滤机制（TFM），对直接信任值进行差异量化，由簇头节点决定各锚节点是否可信。仿真结果表明所提算法适用于水下传感器网络，并且能够及时识别恶意锚节点，在定位系统的精确度和安全性方面都有很大提升。

英文摘要：

A new security localization algorithm based on trust mechanism was proposed to recognize the malicious beacon nodes timely in UnderWater Sensor Network （UWSN）. According to the location information offered by the beacon ＇nodes and combining cluster structure with trust mechanism, this algorithm used Beta distribution to form the initial trust value and the trust update weight could he set as required. In order to reduce the influence of the instability of underwater acoustic channel on the trust evaluation process, meanwhile, recognize the trust cheating of malicious beacon nodes, this algorithm proposed a mechanism named TFM （Trust Filter Mechanism）, which calculated and quantized the trust value, and let the cluster head node decide whether each beacon node was credible or not. The results of simulation prove that the proposed algorithm is suitable for UWSNs and it can recognize malicious beacon nodes timely, and the accuracy and security of localization system are greatly improved.