Fundamental Limits of Doppler Shift-Based, ToA-Based, and TDoA-Based Underwater Localization

Dear Editor, This paper is concerned with the underwater localization based on acoustic signals. Specifically, we will focus search of an target that can constantly broadcast a beacon signal, such as black box. Common measurements for are Doppler shift [1], time arrival (ToA) [2]–[4], difference (TDoA) [5], [6], angle (AoA) [7], etc. In this investigate fundamental limits shift-Based, ToA-Based, TDoA-based localization. Note AoA not covered, because be viewed one type AoA. The discussion short-baseline positioning mobile anchor, i.e., autonomous vehicle (AUV). Due to large distance and limited battery life AUV, quite likely lie outside convex hull AUV's trajectory. cases, show accurate almost impossible by exclusively dependent single measurements. However, system performance significantly improved combing ToA or TDoA reason improvement unveiled theoretically numerically in letter.