Abstract: Most current wireless sensor networks research assume that sensor nodes are deployed on a two-dimensional（2D）plane.However，a large number of underwater sensor network applications demand for a three-dimensional（3D） distribution of sensor nodes.A novel distributed topology generation algorithm（ETG） is proposed for 3D underwater surveillance sensor networks.Based on the lattice theory，ETG integrates the movement control of sensor nodes with a scheduling mechanism.Initially surveillance devices are densely deployed on the 2D sea surface.ETG selects active devices using only local information and controls the vertical movement of their sensor nodes to construct a 3D underwater network.Simulation results show that ETG can achieve larger coverage space at lower cost of average node movement distance，and thus effectively reduce the energy cost at the network set-up phase.

Key words: three-dimensional, underwater sensor networks, lattice, topology generation

摘要： 当前大多数传感器网络研究假设传感器节点在二维平面部署，然而许多水下传感器网络应用要求节点在三维空间分布。针对三维水下监视应用，提出一种新颖的分布式传感器网络拓扑生成算法（ETG）。基于格理论，ETG算法将节点的移动控制与活动设备的调度相结合。初始时刻监视设备密集部署在二维海平面上，ETG算法根据局部信息选择活动设备，并通过控制其传感器节点在垂直方向的移动，形成一个三维水下网络。仿真实验表明，ETG算法能够以较小的平均节点移动距离覆盖较大的空间，从而有效减少网络建立阶段的能量开销。

关键词: 三维, 水下传感器网络, 格, 拓扑生成