An Enhanced AUV- Aided TDoA Localization Algorithm for Underwater Acoustic Sensor Networks

Since localization now has been an essential step in underwater work. The traditional localization algorithm, like time different of arrival (TDoA) has been proposed for its efficiency in terrestrial while it cannot perform perfect because of the unstable propagation in the harsh underwater environment. And autonomous underwater vehicle (AUV) has been used in many circumstances to meet the needs of underwater works. Hence, an enhanced AUV-aided TDoA localization algorithm (EATLA) for underwater acoustic sensor networks (UASNs) is proposed. The AUV dives into the predefined depth from the water surface after acquiring its position coordinates through the GPS, and periodically transmits data packets around the unknown node. After the unknown node receives the data packets and calculates its position, the conditions for the unique result and evaluate the reliability are quantified. Then, to save the energy consumption, a time-delay system is proposed. Compared with traditional localization algorithms, this paper evaluates the performance of EATLA with localization accuracy, coverage and time used in simulations. The obtained results indicate this algorithm achieves relatively higher accuracy with relatively smaller calculations and overcomes some traditional localization drawbacks.