Target Tracking Algorithm for Underwater Acoustic Sensor Networks under DoS Attack

By considering the effect of underwater denial of service(DoS) attack and sound line stratification, the problem of target tracking based on an underwater acoustic sensor network(UASN) was studied in this paper. Firstly, a UASN architecture consisting of underwater sensors, surface buoys, and underwater targets was developed. Then, the underwater target movement model and the underwater DoS attack model were constructed, and an improved consensus-based unscented Kalman filter(UKF) underwater target tracking algorithm was proposed. Finally, the Cramer-Rao lower bound of the algorithm was derived, and the effectiveness of the algorithm was proved. Simulation and experiments show that the proposed algorithm can track the target effectively in an underwater environment, and the consensus-based UKF algorithm improves tracking accuracy.