A Location Algorithm for Dynamic Underwater Sensor Nodes Based on Motion Compensation

The silent location algorithm for underwater sensor nodes is a time-synchronization free location algorithm where nodes could join expediently. Nodes to be located can calculate themselves’ positions just with monitoring sound signal. Due to the particular location protocol, the location period of the silent location algorithm is generally longer. So that the location accuracy is greatly affected by the motion of the nodes to be located. In this paper, how the motion effect the accuracy of existing silent location algorithm is investigated, and a silent location algorithm for dynamic underwater sensor nodes combined with mobility compensation is proposed to eliminate the motion of the node to be located. In order to learn the change regular of measurements, the nodes to be located estimated the change state of the arrival time of signals from each beacon node firstly. Furthermore, the arrival time measured at the same positon could be predicted according to the estimated change regular. The motion-compensated positon could be calculated using the existing silent location algorithm with the predicted measurements. The effectiveness of the proposed algorithm in this paper is verified by simulation analysis.