Abstract
In this paper, we investigate the mobile node localization problem in an underwater positioning system using multiple surface beacons, where time synchronization between the surface beacons and underwater mobile nodes is not required. First, we propose a Time-Difference-of-Arrival-based (TDoA-based) node localization method. In the proposed method, as the underwater node receives the positioning messages from more than or equal to three surface beacons belonging to the same grid at one epoch, it calculates the location by itself using the information of received positioning messages and the corresponding arrival times. To deal with the problem that the number of received positioning messages at one epoch by the underwater node is not enough for the location calculation, we present the modified TDoA- based node localization method with buffered messages and the modified TDoA-based node localization method with motion information. The effectiveness of proposed TDoA-based node localization method and two modified methods is validated by simulation results and sea experiment data analytical results. The robustness of the TDoA-based node localization method is improved by two modified methods. Moreover, using the proposed TDoA-based node localization method and two modified methods, the underwater node can localize itself in low energy consumption and passive mode.
Highlights
In the past decades, ocean exploration has been becoming a hot topic for researchers around the world
In order to deal with the positioning message lost problem and improve the robustness of location calculation, we propose modified time difference of arrival (TDoA)-based node localization methods with buffered positioning messages and/or motion information of underwater mobile node
MODIFIED TDoA-BASED NODE LOCALIZATION METHOD WITH MOTION INFORMATION we present another modified TDoA-based node localization method with motion information to improve the robustness, where an EKF is used for sequential estimation of the location of underwater mobile nodes
Summary
Ocean exploration has been becoming a hot topic for researchers around the world. Considering unreliable underwater transmission environment and the mobility of surface beacons and underwater nodes, it is high possible that underwater nodes do not receive enough positioning messages at one epoch for the TDoA-based location calculation. 2) When the number of received positioning messages is not enough for TDoA-based location calculation, we propose two modified TDoA-based node localization methods. In the modified TDoA-based node localization method with buffered messages, if the underwater mobile node does not receive the positioning message from a surface beacon, it constructs a virtual surface beacon including the virtual positioning message and the corresponding arrival time. In the modified TDoA-based node localization method with motion information, an extended Kalman filter (EKF) is adopted to perform sequential position estimation, and the measurement equation is constructed based on the number of received positioning messages within one epoch.
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