ranging in an underwater medium with multiple isogradient sound speed profile layers不等一个水下介质与多个等梯度声速剖面层.pdfVIP

Sensors 2012, 12, 2996-3017; doi:10.3390/s120302996 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Ranging in an Underwater Medium with Multiple Isogradient Sound Speed Profile Layers Hamid Ramezani ⋆ and Geert Leus Faculty of Electrical Engineering, Mathematics and Computer Science, Delft University of Technology, 2826 CD Delft, The Netherlands; E-Mail: g.j.t.leus@tudelft.nl ⋆ Author to whom correspondence should be addressed; E-Mail: h.mashhadiramezani@tudelft.nl; Tel.: +31-1-5278-6280; Fax: +31-1-5278-6190. Received: 17 December 2011; in revised form: 20 February 2012 / Accepted: 24 February 2012 / Published: 2 March 2012 Abstract: In this paper, we analyze the problem of acoustic ranging between sensor nodes in an underwater environment. The underwater medium is assumed to be composed of multiple isogradient sound speed profile (SSP) layers where in each layer the sound speed is linearly related to the depth. Furthermore, each sensor node is able to measure its depth and can exchange this information with other nodes. Under these assumptions, we first show how the problem of underwater localization can be converted to the traditional range-based terrestrial localization problem when the depth information of the nodes is known a priori. Second, we relate the pair-wise time of flight (ToF) measurements between the nodes to their positions. Next, based on this relation, we propose a novel ranging algorithm for an underwater medium. The proposed ranging algorithm considers reflections from the seabe