简介：Atpresent,mostunderwaterpositioningalgorithmsimprovethepositioningaccuracybyincreasingthenumberofanchornodeswhichresultingintheincreasingenergyconsumption.Tosolvethisproblem,thepaperproposesalocalizationalgorithmassistedbymobileanchornodeandbasedonregiondetermination(LMRD),whichnotonlyimprovesthepositioningaccuracyofnodespositioningbutalsoreducestheenergyconsumption.Thisalgorithmisdividedintotwostages:regiondeterminationstageandlocationpositioningstage.Intheregiondeterminationstage,thetargetregionisdividedintoseveralsub-regionsbytheregiondivisionstrategywiththesmallestoverlapratewhichcanreducethenumberofvirtualanchornodesandlockthetargetnodetoasub-region,andthenthroughtheplanningofmobilenodestooptimizethetravelpath,reducethemovingdistance,andreducesystemenergyconsumption.Inthelocationpositioningstage,thetargetnodelocationcanbecalculatedusingtheHILBERTpathplanningandtrilateration.Thesimulationresultsshowthattheproposedalgorithmcanimprovethepositioningaccuracywhentheenergyconsumptionisreduced.