Time-Difference-of-Arrival-Based Localization Methods of Underwater Mobile Nodes Using Multiple Surface Beacons

In this paper, we investigate the mobile node localization problem in an underwater positioning system using multiple surface beacons, where time synchronization between beacons and nodes is not required. First, propose a Time-Difference-of-Arrival-based (TDoA-based) method. proposed method, as receives messages from more than or equal to three belonging same grid at one epoch, it calculates location by itself information of received corresponding arrival times. To deal with that number epoch enough for calculation, present modified TDoA- based method buffered TDoA-based motion information. The effectiveness two methods validated simulation results sea experiment data analytical results. robustness improved methods. Moreover, methods, can localize low energy consumption passive mode.