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Underwater Localization with Time-Synchronization and Propagation Speed Uncertainties

机译：具有时间同步和传播速度不确定性的水下定位

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摘要

Underwater acoustic localization (UWAL) is a key element in most underwater communication applications. The absence of GPS as well as the signal propagation environment makes UWAL similar to indoor localization. However, UWAL poses additional challenges. The propagation speed varies with depth, temperature, and salinity, anchor and unlocalized (UL) nodes cannot be assumed time-synchronized, and nodes are constantly moving due to ocean currents or self-motion. Taking these specific features of UWAL into account, in this paper, we describe a new sequential algorithm for joint time-synchronization and localization for underwater networks. The algorithm is based on packet exchanges between anchor and UL nodes, makes use of directional navigation systems employed in nodes to obtain accurate short-term motion estimates, and exploits the permanent motion of nodes. Our solution also allows self-evaluation of the localization accuracy. Using simulations, we compare our algorithm to two benchmark localization methods as well as to the Cramér-Rao bound (CBR). The results demonstrate that our algorithm achieves accurate localization using only two anchor nodes and outperforms the benchmark schemes when node synchronization and knowledge of propagation speed are not available. Moreover, we report results of a sea trial where we validated our algorithm in open sea.
机译：水下声定位（UWAL）是大多数水下通信应用中的关键要素。由于缺少GPS以及信号传播环境，UWAL类似于室内定位。但是，UWAL带来了其他挑战。传播速度随深度，温度和盐度而变化，无法假定锚节点和非本地化（UL）节点是时间同步的，并且节点会由于洋流或自我运动而不断移动。考虑到UWAL的这些特定功能，在本文中，我们描述了一种用于水下网络的联合时间同步和定位的新顺序算法。该算法基于锚点和UL节点之间的数据包交换，利用节点中使用的定向导航系统来获取准确的短期运动估计，并利用节点的永久运动。我们的解决方案还允许对定位精度进行自我评估。通过仿真，我们将我们的算法与两种基准定位方法以及Cramér-Rao边界（CBR）进行了比较。结果表明，当节点同步和传播速度的知识不可用时，我们的算法仅使用两个锚节点即可实现精确定位，并且优于基准方案。此外，我们报告了一项海上试验的结果，我们在露天试验中验证了我们的算法。

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