Abstract
Medium Access Control (MAC) delay which occurs between the anchor node’s transmissions is one of the error sources in underwater localization. In particular, in AUV localization, the MAC delay significantly degrades the ranging accuracy. The Cramer-Rao Low Bound (CRLB) definition theoretically proves that the MAC delay significantly degrades the localization performance. This paper proposes underwater localization combined with multiple access technology to decouple the localization performance from the MAC delay. Towards this goal, we adopt hyperbolic frequency modulation (HFM) signal that provides multiplexing based on its good property, high-temporal correlation. Owing to the multiplexing ability of the HFM signal, the anchor nodes can transmit packets without MAC delay, i.e., simultaneous transmission is possible. In addition, the simulation results show that the simultaneous transmission is not an optional communication scheme, but essential for the localization of mobile object in underwater.
Highlights
Underwater communication technology has been garnering attention owing to its potential benefits for marine monitoring
We present time of arrival (ToA)-based autonomous underwater vehicle (AUV) localization in this paper, our system can be applied in all kinds of ranging techniques such as time differences of arrival (TDoA), and angle of arrival (AoA)
The Medium Access Control (MAC) delay is one of the error sources in underwater localization. This problem is ignored in the localization literature, even though localization of moving platforms like AUVs that is widely used in various underwater applications
Summary
Underwater communication technology has been garnering attention owing to its potential benefits for marine monitoring. This paper focuses on the impact of medium access control (MAC) delay on the AUV localization. This paper proposes AUV localization combined with the multiple access system. The CRLB is used to analyze the AUV localization performance, according to the length of MAC delay. We introduce how to transmit the packet using the HFM signal for the localization. The simulation results show that the MAC delay should be removed in the AUV localization, and the HFM signal is a good solution.
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