{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T19:39:45Z","timestamp":1776973185648,"version":"3.51.4"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T00:00:00Z","timestamp":1723248000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T00:00:00Z","timestamp":1723248000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["(62061024)"],"award-info":[{"award-number":["(62061024)"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["(62265010)"],"award-info":[{"award-number":["(62265010)"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Gansu Province Science and Technology Plan","award":["23YFGA0062"],"award-info":[{"award-number":["23YFGA0062"]}]},{"name":"Gansu Province Innovation Fund","award":["2022A-215"],"award-info":[{"award-number":["2022A-215"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2024,12]]},"DOI":"10.1007\/s40747-024-01583-0","type":"journal-article","created":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T09:02:16Z","timestamp":1723280536000},"page":"7965-7986","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Integration of attention mechanism and CNN-BiGRU for TDOA\/FDOA collaborative mobile underwater multi-scene localization algorithm"],"prefix":"10.1007","volume":"10","author":[{"given":"Duo","family":"Peng","sequence":"first","affiliation":[]},{"given":"Ming Shuo","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Kun","family":"Xie","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,8,10]]},"reference":[{"issue":"S1","key":"1583_CR1","first-page":"226","volume":"42","author":"Z Chi","year":"2022","unstructured":"Chi Z, Baocheng Z, Jing Z et al (2022) Survey of underwater wireless sensor network localization technology. Computer 42(S1):226\u2013235","journal-title":"Computer"},{"issue":"05","key":"1583_CR2","doi-asserted-by":"publisher","first-page":"2652","DOI":"10.1109\/TWC.2019.2906309","volume":"18","author":"N Saeed","year":"2019","unstructured":"Saeed N, Celik A, Al-Naffouri T et al (2019) Localization of energy harvesting empowered underwater optical wireless sensor networks. IEEE Trans Wirel Commun 18(05):2652\u20132663","journal-title":"IEEE Trans Wirel Commun"},{"issue":"04","key":"1583_CR3","doi-asserted-by":"publisher","first-page":"1063","DOI":"10.1109\/JOE.2017.2736951","volume":"42","author":"C Soares","year":"2017","unstructured":"Soares C, Gomes J, Ferreira B et al (2017) LocDyn: robust distributed localization for mobile underwater networks. IEEE J Oceanic Eng 42(04):1063\u20131074","journal-title":"IEEE J Oceanic Eng"},{"issue":"10","key":"1583_CR4","first-page":"91","volume":"49","author":"Z Zhenkai","year":"2021","unstructured":"Zhenkai Z, Feng J (2021) Underwater TDOA localization algorithm with sensor position floating. J Huazhong Univ Sci Technol (Natural Science Edition) 49(10):91\u201396","journal-title":"J Huazhong Univ Sci Technol (Natural Science Edition)"},{"key":"1583_CR5","unstructured":"Tang Q, Shao G, Sun M et al (2024) TDOA-DOA underwater target passive localization algorithm based on sensor position error. Syst Eng Electron Technol 1\u201312"},{"issue":"03","key":"1583_CR6","first-page":"14","volume":"10","author":"S Liu","year":"2022","unstructured":"Liu S, Liang T, Wang Y et al (2022) Underwater moving target positioning based on multimodal information fusion. J Navig Position 10(03):14\u201324","journal-title":"J Navig Position"},{"issue":"03","key":"1583_CR7","first-page":"142","volume":"41","author":"H Liu","year":"2020","unstructured":"Liu H, Qin Y, Deng Y et al (2020) Underwater node localisation algorithm based on two-layer modified traceless Kalman. J Instrum 41(03):142\u2013149","journal-title":"J Instrum"},{"issue":"03","key":"1583_CR8","first-page":"342","volume":"37","author":"Y Sun","year":"2011","unstructured":"Sun Y, Zhang Q, Wan L (2011) Adaptive UKF algorithm based navigation system for small underwater robots. J Autom 37(03):342\u2013353","journal-title":"J Autom"},{"key":"1583_CR9","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2930","author":"W Di","year":"2023","unstructured":"Di W, Li Z, Lv D et al (2023) Adaptive finite time faulttolerant control for the quadrotor unmanned aerial vehicles based on time-triggered strategy. Optim Control Appl Methods. https:\/\/doi.org\/10.1002\/oca.2930","journal-title":"Optim Control Appl Methods"},{"key":"1583_CR10","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2023.126498","author":"L Zhang","year":"2016","unstructured":"Zhang L, Zhu Y, Zheng WX (2016) State estimation ofdiscrete-time switched neural networks with multiple communication channels. IEEE Trans Cybern. https:\/\/doi.org\/10.1016\/j.neucom.2023.126498","journal-title":"IEEE Trans Cybern"},{"key":"1583_CR11","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2023.126498","volume":"550","author":"X Song","year":"2023","unstructured":"Song X, Wu N, Song S et al (2023) Bipartite synchronization for cooperative-competitive neural networks with reaction-diffusion terms via dual event-triggered mechanism. Neurocomputing 550:126498","journal-title":"Neurocomputing"},{"issue":"03","key":"1583_CR12","doi-asserted-by":"publisher","first-page":"1077","DOI":"10.1007\/s12555-022-0693-4","volume":"22","author":"D Gao","year":"2024","unstructured":"Gao D (2024) A dynamic warning method for electric vehicle charging safety based on CNN-BiGRU hybrid model. Int J Control Autom Syst 22(03):1077\u20131089","journal-title":"Int J Control Autom Syst"},{"key":"1583_CR13","doi-asserted-by":"publisher","first-page":"67484","DOI":"10.1109\/ACCESS.2020.2984652","volume":"8","author":"Z Rahman","year":"2020","unstructured":"Rahman Z, Hashim F, Rasid M et al (2020) Normalized advancement based totally opportunistic routing algorithm with void detection and avoiding mechanism for underwater wireless sensor network. IEEE Access 8:67484\u201367500","journal-title":"IEEE Access"},{"key":"1583_CR14","doi-asserted-by":"publisher","first-page":"2746","DOI":"10.1109\/ACCESS.2017.2785182","volume":"6","author":"Y Zou","year":"2017","unstructured":"Zou Y, Liu H, Wan Q (2017) An iterative method for moving target localization using TDOA and FDOA measurements. IEEE Access 6:2746\u20132754","journal-title":"IEEE Access"},{"issue":"11","key":"1583_CR15","first-page":"2125","volume":"37","author":"F Jiang","year":"2021","unstructured":"Jiang F, Zhang Z (2021) Underwater TDOA\/FDOA joint localization method based on Taylorweighted least squares algorithm. J Signal Process 37(11):2125\u20132133","journal-title":"J Signal Process"},{"issue":"07","key":"1583_CR16","doi-asserted-by":"publisher","first-page":"1260","DOI":"10.3390\/jmse11071260","volume":"11","author":"J Kim","year":"2023","unstructured":"Kim J (2023) Underwater transmitter localization based onTDOA and FDOA considering the unknown time-varying emission frequency. J Mar Sci Eng 11(07):1260","journal-title":"J Mar Sci Eng"},{"key":"1583_CR17","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2022.103036","volume":"139","author":"R \u00c1lvarez","year":"2023","unstructured":"\u00c1lvarez R, D\u00edez-Gonz\u00e1lez J, Verde P et al (2023) Combined sensor selection and node location optimization for reducing the localization uncertainties in wireless sensor networks. Ad Hoc Netw 139:103036","journal-title":"Ad Hoc Netw"},{"issue":"11","key":"1583_CR18","doi-asserted-by":"publisher","first-page":"4051","DOI":"10.1109\/JSEN.2015.2428712","volume":"16","author":"K Wang","year":"2015","unstructured":"Wang K, Gao H, Xu X et al (2015) An energy-efficient reliable data transmission scheme for complex environmental monitoring in underwater acoustic sensor networks. IEEE Sens J 16(11):4051\u20134062","journal-title":"IEEE Sens J"},{"issue":"03","key":"1583_CR19","doi-asserted-by":"publisher","first-page":"414","DOI":"10.3390\/s16030414","volume":"16","author":"N Li","year":"2016","unstructured":"Li N, Cgaus JMM, Eckert M (2016) A survey on underwater acoustic sensor network routing protocols. Sensors 16(03):414","journal-title":"Sensors"},{"key":"1583_CR20","doi-asserted-by":"crossref","unstructured":"Zhao D, Song X, Lun G (2016) A multi-hop acknowledgment technique based on network coding for underwater acoustic communication. In: Proceedings of the 2015 international conference on communications, signal processing, and systems. Springer, Berlin, pp 141\u2013152","DOI":"10.1007\/978-3-662-49831-6_15"},{"issue":"12","key":"1583_CR21","doi-asserted-by":"publisher","first-page":"2218","DOI":"10.1109\/LCOMM.2015.2486769","volume":"19","author":"Y Liu","year":"2015","unstructured":"Liu Y, Guo F, Yang L et al (2015) An improved algebraic solution for TDOA localization with sensor position errors. IEEE Commun Lett 19(12):2218\u20132221","journal-title":"IEEE Commun Lett"},{"issue":"09","key":"1583_CR22","doi-asserted-by":"publisher","first-page":"1434","DOI":"10.1049\/rsn2.12270","volume":"16","author":"T Meng","year":"2022","unstructured":"Meng T, Zhang Z, Lin Y (2022) Joint localization algorithm of TDOA and FDOA considering the position error of underwater sensors. IET Radar Sonar Navig 16(09):1434\u20131445","journal-title":"IET Radar Sonar Navig"},{"issue":"01","key":"1583_CR23","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1109\/LCOMM.2016.2614936","volume":"21","author":"Y Wang","year":"2016","unstructured":"Wang Y, Wu Y (2016) An efficient semidefinite relaxation algorithm for moving source localization using TDOA and FDOA measurements. IEEE Commun Lett 21(01):80\u201383","journal-title":"IEEE Commun Lett"},{"issue":"02","key":"1583_CR24","doi-asserted-by":"publisher","first-page":"853","DOI":"10.1109\/TVT.2012.2225074","volume":"62","author":"G Wang","year":"2012","unstructured":"Wang G, Li Y, Ansari N (2012) A semidefinite relaxation method for source localization using TDOA and FDOA measurements. IEEE Trans Veh Technol 62(02):853\u2013862","journal-title":"IEEE Trans Veh Technol"},{"issue":"07","key":"1583_CR25","doi-asserted-by":"publisher","first-page":"1430","DOI":"10.1109\/LCOMM.2017.2787739","volume":"22","author":"Z Su","year":"2017","unstructured":"Su Z, Shao G, Liu H (2017) Semidefinite programming for NLOS error mitigation in TDOA localization. IEEE Commun Lett 22(07):1430\u20131433","journal-title":"IEEE Commun Lett"},{"issue":"01","key":"1583_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s13634-019-0621-9","volume":"2019","author":"ZX Liu","year":"2019","unstructured":"Liu ZX et al (2019) An algebraic method for moving source localization using TDOA, FDOA, and differential Doppler rate measurements with receiver location errors. EURASIP J Adv Signal Process 2019(01):1\u201315","journal-title":"EURASIP J Adv Signal Process"},{"issue":"08","key":"1583_CR27","doi-asserted-by":"publisher","first-page":"1256","DOI":"10.1049\/iet-rsn.2020.0003","volume":"14","author":"J Feng","year":"2020","unstructured":"Feng J, Zhen Z, Hamid EN et al (2020) Underwater TDOA\/FDOA joint localization method based on cross-ambiguity function. IET Radar Sonar And Navig 14(08):1256\u20131266","journal-title":"IET Radar Sonar And Navig"},{"issue":"06","key":"1583_CR28","doi-asserted-by":"publisher","first-page":"802","DOI":"10.1049\/cmu2.12122","volume":"15","author":"F Jiang","year":"2021","unstructured":"Jiang F, Zhang Z (2021) An improved underwater TDOA\/AOA joint localization algorithm. IET Commun 15(06):802\u2013814","journal-title":"IET Commun"},{"issue":"01","key":"1583_CR29","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1016\/j.cja.2017.11.007","volume":"31","author":"Z Lu","year":"2018","unstructured":"Lu Z, Ba B, Wang J et al (2018) A direct position determination method with combined TDOA and FDOA based on particle filter. Chin J Aeronaut 31(01):161\u2013168","journal-title":"Chin J Aeronaut"},{"issue":"01","key":"1583_CR30","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1049\/cje.2020.11.009","volume":"30","author":"L Congfeng","year":"2021","unstructured":"Congfeng L, Jinwei Y (2021) A joint TDOA\/FDOA localization algorithm using bi-iterative method with optimal step length. Chin J Electron 30(01):119\u2013126","journal-title":"Chin J Electron"},{"issue":"01","key":"1583_CR31","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1016\/j.cja.2017.11.005","volume":"31","author":"D Hu","year":"2018","unstructured":"Hu D, Huang Z, Zhang S et al (2018) Joint TDOA, FDOA and differential Doppler rate estimation: method and its performance analysis. Chin J Aeronaut 31(01):137\u2013147","journal-title":"Chin J Aeronaut"},{"issue":"01","key":"1583_CR32","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1016\/j.dt.2020.11.018","volume":"18","author":"Y Wang","year":"2022","unstructured":"Wang Y, Liang X, Zhang J et al (2022) Robust TDOA\/FDOA estimation from emitter signals for hybrid localization using UAVs. Def Technol 18(01):81\u201393","journal-title":"Def Technol"},{"issue":"04","key":"1583_CR33","doi-asserted-by":"publisher","first-page":"666","DOI":"10.23919\/JSEE.2020.000042","volume":"31","author":"L Congfeng","year":"2020","unstructured":"Congfeng L, Jinwei Y, Juan S (2020) Direct solution for fixed source location using well-posed TDOA and FDOA measurements. J Syst Eng Electron 31(04):666\u2013673","journal-title":"J Syst Eng Electron"},{"issue":"01","key":"1583_CR34","doi-asserted-by":"publisher","first-page":"149","DOI":"10.23919\/JSEE.2023.000008","volume":"34","author":"L Hao","year":"2023","unstructured":"Hao L, Hemin S, Ronghua Z et al (2023) Hybrid TDOA\/FDOA and track optimization of UAV swarm based on a-optimality. J Syst Eng Electron 34(01):149\u2013159","journal-title":"J Syst Eng Electron"},{"key":"1583_CR35","doi-asserted-by":"crossref","unstructured":"Zhou QY, Wu JW, Wang SR et al (2022) Two-dimensional direction-of-arrival estimation based on time-domain-coding digital metasurface. Appl Physics Lett 121(18)","DOI":"10.1063\/5.0124291"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-024-01583-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-024-01583-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-024-01583-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T22:14:44Z","timestamp":1729116884000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-024-01583-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,10]]},"references-count":35,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2024,12]]}},"alternative-id":["1583"],"URL":"https:\/\/doi.org\/10.1007\/s40747-024-01583-0","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"value":"2199-4536","type":"print"},{"value":"2198-6053","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,10]]},"assertion":[{"value":"10 April 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 July 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 August 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflicts of interest to declare. All coauthors have seen and agree with the contents of the manuscript and there is no financial interest to report. We certify that the submission is original work and is not under review at any other publication.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"The authors give full permission for the publication of the article.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}]}}