Underwater node positioning method, device and equipment and storage medium

The invention discloses an underwater node positioning method, device and equipment and a storage medium, which are applied to the field of underwater node positioning, permutation and combination are carried out on reference nodes in a manner that every three reference nodes form a group to construct a plurality of reference node sets, and geometric dilution values between each reference node set and a node to be positioned are calculated; and selecting the reference node set with the minimum geometric dilution value as a target reference node set for positioning, determining the positioned to-be-positioned node as a positioned node, calculating the positioning error of the positioned node, determining the confidence of the positioned node according to the positioning error of the positioned node, and determining the positioning error of the positioned node according to the confidence. And determining the positioned node with the confidence greater than a confidence threshold as a pseudo reference node. Acco