In order to meet the requirements of regional positioning accuracy and achieve the optimal number of layouts and cost-effectiveness ratio,an optimal layout method of underwater acoustic navigation network nodes is proposed.According to the relationship between node layout spacing and positioning error,the maximum node layout spacing that meets the positioning accuracy requirements is selected,and 2D mesh generation algorithm is used to control the node spacing at the maximum spacing,so as to realize the automatic optimal layout of regional underwater navigation network nodes.Considering the situation that the seabed terrain blocks the sound source,the comparison of the terrain opening angle,the critical opening angle and the critical value of the small opening angle can be used to quickly determine the regional layout risk area and set it as the non-layout risk area in the 2D mesh generation algorithm to further optimize the node layout of the actual seabed terrain navigation network.The simulation experiment of the layout of the navigation network in an actual sea has verified that the proposed method can achieve the expected design requirement of 100 m positioning error and meet the optimal number of node.
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