1. ILS: Instant Localization System
for Underwater Mobile Networks
Youngtae Noh, Joshua Joy, Prerna Vij, Dony George, Mario Gerla
UCLA, Computer Science
{ytnoh, jjoy, prernavij, donyg,
Existing localization schemes:
Require at least three ships/sonobuoys on surface
OR, require AUVs to dive`n’rise to update location information
Monitoring
Center
Our Solution: one ship/sonobuoy
AUV equipped with pressure gauges
- provides accurate depth information (<1m)
- 3D localization becomes 2D
Accurate distance between two nodes
- can be acquired by propagation delay between the two
AUV’s travel distance and direction
- acquired by accelerometer and compass readings
dt1
dt2
d∆t
dt1
dt2
d∆t N
We can calculate the direction from AUV to Monitoring Center :
The other direction from AUV to MC can be calculated as follows:
One direction from AUV to MC can be calculated as follows:
Reference
[1] M. Erol, L. F. M. Vieira, and M. Gerla, “Localization with dive`n’rise (dnr) beacons for underwater acoustic sensor networks,” in WuWNet. ACM, 2007.
[2] B. Jalving, “Depth accuracy in seabed mapping with underwater vehicles,” in OCEANS ’99 MTS/IEEE, 1999.
Supported by NSF Grant: SEA-Swarm