Collaborative tracking in mobile underwater networks

A key requirement of underwater sensing systems is to track the position of devices while submerged. Traditionally, such tracking has relied on inertial navigation units and acoustic range measurements with surface beacons to estimate node positions over time. While effective for small clusters of instruments, these approaches do not scale well when underwater systems become truly networked. Instead, networked instruments can rely on collaborative localization techniques. However, as these only estimate node positions for time snapshots of the network, this solution breaks down in sparse deployments. In this paper we propose an innovative new approach, collaborative tracking, that marries the benefits from both existing solutions, while overcoming their disadvantages. Our scheme provides complete 4D trajectory estimation, leveraging both time and spatial dimensions, and operates well into regions where both surface beacons and network connectivity are sparse.

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