Method for realizing self-adaptive routing protocol of mobile sparse underwater acoustic sensor network

The invention discloses a method for realizing a self-adaptive routing protocol of a mobile sparse underwater acoustic sensor network. The method comprises the following steps: selecting a candidate set and an optimal relay node: determining the candidate relay set with qualification for forwarding data based on depth and sustainability, evaluating node quality by using a multi-metric decision theory, and dynamically determining the optimal relay point of each node in a distributed manner; dynamic updating: updating routing information in real time by combining factors such as paths, node degrees and residual energy so as to estimate uncertainty of delivery of the mobile sparse underwater acoustic sensor network; performing data forwarding: forwarding the data by the node with the highestpriority, monitoring and waiting by other nodes, and determining a strategy of whether to forward the data or not when the time expires until the data packet reaches a sea surface receiving point; theproblems of communication