With the rise of the internet of things, wireless sensor network (WSN) technology has gained unprecedented development and has attracted increasing attention from researchers. Due to the inherent characteristics of WSN, such as interaction with the environment, WSN localization becomes an essential and attractive topic in academia and industry. In this paper, the range-based localization problem in a mobile WSN application scenario is considered to be time-varying and modeled as a dynamic matrix equation by introducing the time parameter. Two modified zeroing neurodynamics (ZND) models are proposed and investigated to deal with range-based WSN localization problems from angle of arrival (AOA) measurement and time difference of arrival (TDOA) measurement. In addition, the convergence of the proposed models is theoretically analyzed. Furthermore, computer simulations on WSN localization are carried out to prove the effectiveness of the proposed models in terms of accuracy and robustness to the dynamic environment. Additionally, the application to underwater sensor node localization of underwater acoustic network (UAN) testbed is provided to illustrate the feasibilities of the proposed models for solving UAN localization problem.

Underwater sensor networks (UWSNs) are characterized by large energy consumption, limited power supply, low bit rate, and long propagation delay, as well as spatial-temporal uncertainty, which present both challenges and opportunities for media access control (MAC) protocol design. The time-division transmissions can effectively avoid collisions since different nodes transmit packets at different period of time. Nevertheless, in UWSNs with long propagation delay, in order to avoid collisions, the period of time is subject to be long enough, which results in poor channel utilization and low throughput. In view of the long and different propagation delay between a receiving node and multiple sending nodes in UWSNs, as long as there is no collision at the receiving node, multiple sending nodes can transmit packets simultaneously. Therefore, in this paper, we propose a MAC protocol of concurrent scheduling based on spatial-temporal uncertainty called CSSTU-MAC (concurrent scheduling based on spatial-temporal uncertainty MAC) for UWSNs. The CSSTU-MAC protocol utilizes the characteristics of temporal-spatial uncertainty as well as long propagation delay in UWSNs to achieve concurrent transmission and collision avoidance. Simulation results show that the CSSTU-MAC protocol outperforms the existing MAC protocol with time-division transmissions in terms of average energy consumption and network throughput.

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