A three dimensional localization algorithm for underwater acoustic sensor networks

Although many localization protocols have been proposed for terrestrial sensor networks in recent years, the unique characteristics of the underwater acoustic communication channel, such as high and variable propagation delay and the three dimensional volume of the environment make it necessary to design and develop new localization algorithms. In this paper, a localization algorithm called three-dimensional underwater localization (3DUL) is introduced. 3DUL achieves networkwide robust 3D localization by using a distributed and iterative algorithm. Most importantly, 3DUL exploits only three surface buoys for localization initially. The sensor nodes leverage the low speed of sound to accurately determine the inter-node distances. Performance evaluations show that 3DUL algorithm provides high accuracy in underwater localization, which does not degrade with network size.

[1]  Chris Savarese.  LOCATIONING IN DISTRIBUTED AD-HOC WIRELESS SENSOR NETWORKS , 2001 .

[2]  David C. Moore,et al.  Robust distributed network localization with noisy range measurements , 2004, SenSys '04.

[3]  X. Lurton.  An Introduction to Underwater Acoustics , 2002 .

[4]  Jan M. Rabaey,et al.  Location in distributed ad-hoc wireless sensor networks , 2001, 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.01CH37221).

[5]  Sound speed in the Mediterranean Sea: an analysis from a climatological data set , 2003 .

[6]  Erik D. Demaine,et al.  Anchor-Free Distributed Localization in Sensor Networks , 2003 .

[7]  Shengli Zhou,et al.  Localization for Large-Scale Underwater Sensor Networks , 2007, Networking.

[8]  Curt Schurgers,et al.  Sensor networks of freely drifting autonomous underwater explorers , 2006, WUWNet '06.

[9]  Dario Pompili,et al.  Underwater acoustic sensor networks: research challenges , 2005, Ad Hoc Networks.

[10]  Wei Cheng,et al.  Underwater Localization in Sparse 3D Acoustic Sensor Networks , 2008, IEEE INFOCOM 2008 - The 27th Conference on Computer Communications.

[11]  B. R. Badrinath,et al.  Ad hoc positioning system (APS) using AOA , 2003, IEEE INFOCOM 2003. Twenty-second Annual Joint Conference of the IEEE Computer and Communications Societies (IEEE Cat. No.03CH37428).

[12]  Xiuzhen Cheng,et al.  TPS: a time-based positioning scheme for outdoor wireless sensor networks , 2004, IEEE INFOCOM 2004.

[13]  Yuanyuan Zhao,et al.  Autonomous Underwater Vehicle Navigation , 2010, IEEE Journal of Oceanic Engineering.

[14]  K. Mackenzie.  Nine‐term equation for sound speed in the oceans , 1981 .

[15]  Robert J. Urick,et al.  Principles of underwater sound for engineers , 1967 .

[16]  B. Cornuelle,et al.  On equations for the speed of sound in seawater. , 1992 .

[17]  H. G. Thomas,et al.  GIB buoys: an interface between space and depths of the oceans , 1998, Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290).