DV-Hop Underground Positioning Algorithm Based on Parameter Disturbance WOA

For reducing the error of the Distance Vector-Hop (DV-Hop) positioning algorithm in the hop-distance and estimation coordinates and enhance the localization accuracy of the underground mine, a novel method that introduces the modified whale optimization algorithm (WOA) to optimize the DV-Hop is proposed. Firstly, adopt the average distance per hop is used to amend the hop-distance from the node to be located and each beacon node to minimal the error of the estimation distance. Then, employ the information entropy to disturbance the parameters of WOA, which can make the individual of whales evenly distributed and escape from getting into local optimum when searching the optimal solution. Finally, the simulation shows that the improved means is able to reduce the node location error rate by 15.07% compared to no modified algorithm, and the positioning accuracy of DV-Hop algorithm is enhanced without adding other hardware devices.