Particle System-Based Ordinary Nodes Localization With Delay Compensation in UWSNs

This paper investigates the ordinary nodes localization problem by utilizing mobility-constrained nodes. The mobility-constrained nodes are anchored to the seabed by cables in underwater sensor networks. Many studies assume these mobility-constrained nodes' locations as fixed, not considering their mobile properties. In the actual marine environment, they usually deviate within a restricted radius due to current fluctuations, rope tension, their gravity, etc., thus causing inaccurate localization. Moreover, underwater communication is through acoustic waves. The acoustic propagation is slow, and the propagation delay cannot be ignored. To solve these problems, particle system based localization with delay compensation is proposed, and it contains two parts. In the first step, the prior velocity information based delay compensation algorithm is designed to get the actual motion location of the target at the sampling moment. In the second step, based on the first step, the particle system based localization algorithm is proposed to narrow the localization range, where the characteristics of mobility-constrained nodes are considered. Finally, localization simulation is presented to show the effectiveness of our proposed algorithm. The proposed particle system based localization with delay compensation algorithm has higher accuracy and is more suitable for the actual underwater scenario.