Underwater Sensor Network Positioning Using an AUV Moving on a Random Waypoint Path

ABSTRACT

In this paper, a range-free, passive, and autonomous underwater vehicle (AUV)-based localization scheme is proposed for underwater acoustic sensor networks. The AUV has used four directional acoustic beams with fixed steering angle and width, which led to the constant ratio of array size to wavelength, in order to localize the sensor nodes. The AUV was moved on a random waypoint path and broadcasted messages periodically. The sensor nodes used two successively received message sequences which were submitted by two beams on one side of the AUV path in order to localize themselves. Extensive simulation results in MATLAB demonstrated that using the proposed localization scheme could yield better localization success than other AUV-based localization methods.

Keywords:

• AUV
• Localization
• Positioning
• Underwater acoustic sensor network (UASN)

Additional information

Notes on contributors

Rahman Zandi

Rahman Zandi received his MSc degree in electrical engineering from University of Tehran, Iran, in 2012. His research interests include underwater acoustic sensor network, wireless sensor network and array processing.

Email: [email protected]

Mahmoud Kamarei

Mahmoud Kamarei received his MSc degree in electrical engineering from the University of Tehran in 1979, CES in telecommunications from the National Superior School of Telecommunications,Paris, in 1981, his diploma of advanced studies and his PhD from Institute National Polytechnique de Grenoble (INPG) –France, both in electronics, in 1982 and in 1985. Since 1982, he has been a researcher at INPG's Laboratoire of Electromagnetism, Microwave and Optoelectronics. Mahmoud Kamarei also was a senior lecturer at J. Fourier University of Grenoble until September 1991. He worked as a director of Electrical and Computer Engineering Department (1994–2002), professor and associate dean in Research of the Faculty of Engineering (2002–2006), vice-president for academic affairs at the University of Tehran (2006–2009). Mahmoud Kamarei is the dean of University College of Engineering–University of Tehran since August 2009.

Email: [email protected]

Hadi Amiri

Hadi Amiri received his BSc degree in electrical engineering, in 1995 from Sharif University of Technology, and MSc and PhD degrees in electrical engineering, in 1997 and 2005 from Amirkabir University of Technology, Tehran, Iran. He joined University of Tehran, and is currently an assistant professor in Department of Engineering Science at College of Engineering. His current research interests include statistical signal processing, array processing, sonar and underwater acoustics.

Email: [email protected]

Forough Yaghoubi

Forough Yaghoubi received her BSc degree in electrical engineering and MSc degree in communication systems in 2010 and 2013, respectively, both from University of Tehran, school of electrical and computer engineering. She joined KTH Royal Institute of Technology, Stockholm, Sweden, in 2014, where she is pursuing her PhD in the Department of Information and Communication Systems at Optical Networking Laboratory. Her research is focused on modelling, performance evaluation, and optimization of next generation wireless networks.

Email: [email protected]