An Enhanced AUV- Aided TDoA Localization Algorithm for Underwater Acoustic Sensor Networks
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An Enhanced AUV- Aided TDoA Localization Algorithm for Underwater Acoustic Sensor Networks Kun Hao 1
&
Kaicheng Yu 1 & Zijun Gong 2 & Xiujuan Du 3 & Yonglei Liu 1 & Lu Zhao 1
# Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract Since localization now has been an essential step in underwater work. The traditional localization algorithm, like time different of arrival (TDoA) has been proposed for its efficiency in terrestrial while it cannot perform perfect because of the unstable propagation in the harsh underwater environment. And autonomous underwater vehicle (AUV) has been used in many circumstances to meet the needs of underwater works. Hence, an enhanced AUV-aided TDoA localization algorithm (EATLA) for underwater acoustic sensor networks (UASNs) is proposed. The AUV dives into the predefined depth from the water surface after acquiring its position coordinates through the GPS, and periodically transmits data packets around the unknown node. After the unknown node receives the data packets and calculates its position, the conditions for the unique result and evaluate the reliability are quantified. Then, to save the energy consumption, a time-delay system is proposed. Compared with traditional localization algorithms, this paper evaluates the performance of EATLA with localization accuracy, coverage and time used in simulations. The obtained results indicate this algorithm achieves relatively higher accuracy with relatively smaller calculations and overcomes some traditional localization drawbacks. Keywords Underwater acoustic sensor networks(UASNs) . Time different of arrival (TDoA) . Autonomous underwater vehicles (AUVs) . AUV-aided localization
1 Introduction Over the past few years, underwater wireless sensor networks (UWSNs) are getting more attention [1]. They have been widely used in many exciting applications such as natural disaster warning systems, oceanic navigate assistance, biological environment monitoring, and smart ocean as authors proposed in [2, 3]. Because sensor nodes are relatively small in shape and less expensive in cost than traditional devices. UWSNs consist of a variable number of sensor nodes to collaboratively work. In underwater, sensor nodes continuously collect data, sense the environment, and transmit to the surface vessel or onshore stations. Compared with the traditional * Kun Hao [email protected]; [email protected] 1
School of Computer and Information Engineering, Tianjin Chengjian University, Tianjin 300384, China
2
Faculty of Engineering and Applied Science, Memorial University, acronyms acceptable, St. John’s, Canada
3
School of Computer Science and Technology, Qinghai Normal University, Qinghai 810008, China
propagation medium such as radio and optical signals, acoustic signals have been widely used in recent years as they attenuate less and travel far. However, the underwater acoustic sensor networks (UASNs) have the following characteristics: (1) the propagation delay of acoustic waves is high because its low transition speed and it
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