RESUMEN
Precise and robust localization in three-dimensional underwater sensor networks is still an important research problem. This problem is particularly challenging if there are some malicious anchors among ordinary anchor nodes that will broadcast their locations falsely and deliberately. In this paper, we study how to self-localize large teams of underwater sensor nodes under the condition that some malicious anchor nodes mixed with ordinary anchors. Due to malicious characteristic of some deliberate anchor nodes, an iterative and cooperative 3D-localization algorithm for underwater sensor networks in the existence of malicious anchors is proposed in this paper. The proposed robust localization algorithm takes advantage of distributed reputation voting method within 1-Hop neighboring reference nodes to detect and eliminate malicious anchor nodes. Moreover, one kind of Minimum Mean Squared Error estimation based iterative localization method is applied to determine accurate location information. Additionally, we analyze and prove that our localization algorithm would have a bounded error when the number of malicious anchors is smaller than a certain threshold. Extensive simulation results are provided to demonstrate performance improvements comparing to traditional Minimum Mean Squared Error and Attack Resistant Minimum Mean Squared Error based localization methods in terms of localization accuracy and coverage ratio.