Cooperative control method of bionic fish for large-range water monitoring

The invention relates to a cooperative control method of bionic fish for large-range water monitoring. According to the method, water quality parameter information is acquired by means of group control of multiple mobile nodes. A pilot bionic node and follower bionic nodes are shaped in tunas. The pilot bionic node floats and inspects in a surface area, informs the follower bionic nodes in water about queue information by means of hydroacoustic broadcasting, collects the water quality parameter information acquired by the follower bionic nodes, and communicates with a shore base station. The follower bionic nodes receive the queue information, move with the pilot bionic node in a certain geometric form, and collect and send the water quality parameter information. The pilot and follower bionic nodes are communicated in a hydroacoustic manner; the pilot bionic node is communicated with the shore base station by the GPRS (general packet radio service) technology; a group system is controlled in a distributed fuzzy group control manner, remote control is available, the test range is wide, precision is high, water quality parameters of different water areas are monitored online, and the applicable prospect is promising.