Skip to main content
SpringerLink
Log in

Joint time synchronization and localization of underwater mobile node

  • Original Paper
  • Published:
Wireless Networks Aims and scope Submit manuscript

Abstract

Due to the unavoidable movement of nodes within oceanic environments and the continual changing of underwater sound speed, it is difficult to synchronize clocks between nodes and locate them. Therefore, this paper proposes a joint time synchronization and localization mechanism (JTSL). Firstly, a time synchronization method is proposed based on three autonomous underwater vehicles (AUVs). In this method, AUVs send synchronization request signals to the moving unknown node three times. The clock skew and offset of each AUV compared to the clock of the unknown node are obtained based on the information transfer delay between nodes as sound speed changes. After time synchronization, the unknown node receives location information from AUVs and obtains the sound speed change function. Based on this function and kinematic equations, a distance calculation method is developed to calculate the distance between the unknown node and AUVs. In addition, a multi-layer fast meshing localization method is designed to improve the accuracy and speed of node localization. The simulation experiments show that JTSL can overcome difficulties related to time synchronization and localization of mobile nodes, and it demonstrates excellent performance in terms of time synchronization accuracy, energy efficiency, localization accuracy, and localization time.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

Data availability

The datasets generated during or analyzed during the current study are available from the corresponding author on reasonable request.

References

  1. Li, Y., Liu, M., Zhang, S., et al. (2021). Node dynamic localization and prediction algorithm for internet of underwater things. IEEE Internet of Things Journal, 9(7), 5380–5390.

    Article  Google Scholar 

  2. Guo, Y., Han, Q., & Kang, X. (2020). Underwater sensor networks localization based on mobility-constrained beacon. Wireless Networks, 26(4), 2585–2594.

    Article  Google Scholar 

  3. Kumari, S., Mishra, P. K., & Anand, V. (2021). Fault-resilient localization using fuzzy logic and NSGA II-based metaheuristic scheme for UWSNs. Soft Computing, 25(17), 11603–11619.

    Article  Google Scholar 

  4. Li, Y., Liu, M., Zhang, S., et al. (2022). Particle system-based ordinary nodes localization with delay compensation in UWSNs. IEEE Sensors Journal, 22(7), 7157–7168.

    Article  Google Scholar 

  5. Hu, K., Sun, Z., Luo, H., et al. (2018). STVF: Spatial-temporal variational filtering for localization in underwater acoustic sensor networks. Sensors, 18(7), 2078.

    Article  Google Scholar 

  6. Diamant, R., & Lampe, L. (2012). Underwater localization with time-synchronization and propagation speed uncertainties. IEEE Transactions on Mobile Computing, 12(7), 1257–1269.

    Article  Google Scholar 

  7. Kim, J. (2021). Hybrid TOA–DOA techniques for maneuvering underwater target tracking using the sensor nodes on the sea surface. Ocean Engineering, 242, 110110.

    Article  Google Scholar 

  8. Nain, M., & Goyal, N. (2022). Energy efficient localization through node mobility and propagation delay prediction in underwater wireless sensor network. Wireless Personal Communications, 122(3), 2667–2685.

    Article  Google Scholar 

  9. Zhang, W., Han, G., Wang, X., et al. (2020). A node location algorithm based on node movement prediction in underwater acoustic sensor networks. IEEE Transactions on Vehicular Technology, 69(3), 3166–3178.

    Article  Google Scholar 

  10. Li, Y. Y., Wang, C. C., Qi, G. Q., et al. (2020). Closed-form formula of Cramer-Rao lower bound for 3D TOA target localization. Electronics Letters, 56(1), 43–45.

    Article  Google Scholar 

  11. Wang, T., Xiong, H., Ding, H., et al. (2020). TDOA-based joint synchronization and localization algorithm for asynchronous wireless sensor networks. IEEE Transactions on Communications, 68(5), 3107–3124.

    Article  Google Scholar 

  12. Qiao, G., Muhammad, A., Muzzammil, M., et al. (2022). Addressing the Directionality challenge through RSSI-based multilateration technique, to localize nodes in underwater WSNs by using magneto-inductive communication. Journal of Marine Science and Engineering, 10(4), 530.

    Article  Google Scholar 

  13. Huang, H., & Zheng, Y. R. (2018). Node localization with AoA assistance in multi-hop underwater sensor networks. Ad Hoc Networks, 78, 32–41.

    Article  Google Scholar 

  14. Syed A. A., Heidemann J. (2006). Time synchronization for high latency acoustic networks. In Proc. 25th IEEE International Conference on Computing Communication (pp. 1–12).

  15. Liu, J., Zhou, Z., Peng, Z., et al. (2012). Mobi-sync: Efficient time synchronization for mobile underwater sensor networks. IEEE Transactions on Parallel and Distributed Systems, 24(2), 406–416.

    Article  Google Scholar 

  16. Liu, J., Wang, Z., Cui, J. H., et al. (2015). A joint time synchronization and localization design for mobile underwater sensor networks. IEEE Transactions on Mobile Computing, 15(3), 530–543.

    Article  Google Scholar 

  17. Dong, M., Li, H., Li, C., et al. (2022). A localization algorithm for compensating stratification effect based on improved particle swarm optimization in underwater acoustic sensor network. Journal of Ambient Intelligence and Humanized Computing, 58, 1–11.

    Google Scholar 

  18. Zheng, C., Sun, D., Cai, L., et al. (2018). Mobile node localization in underwater wireless networks. IEEE Access, 6, 17232–17244.

    Article  Google Scholar 

  19. Ni, X., Lu, T., Ye, S., et al. (2021). Pair nodes clock synchronization algorithm based on kalman filter for underwater wireless sensor networks. Sensors, 21(13), 4426.

    Article  Google Scholar 

  20. Zhou, Z., Peng, Z., Cui, J. H., et al. (2010). Scalable localization with mobility prediction for underwater sensor networks. IEEE Transactions on Mobile Computing, 10(3), 335–348.

    Article  Google Scholar 

  21. Yan, J., Zhang, X., Luo, X., et al. (2017). Asynchronous localization with mobility prediction for underwater acoustic sensor networks. IEEE Transactions on Vehicular Technology, 67(3), 2543–2556.

    Article  Google Scholar 

  22. Guo, Y., Kang, X., Han, Q., et al. (2019). A localization algorithm for underwater wireless sensor networks based on ranging correction and inertial coordination. KSII Transactions on Internet and Information Systems, 13(10), 4971–4987.

    Google Scholar 

  23. Su, Y., Guo, L., Jin, Z., et al. (2020). A mobile-beacon-based iterative localization mechanism in large-scale underwater acoustic sensor networks. IEEE Internet of Things Journal, 8(5), 3653–3664.

    Article  Google Scholar 

  24. Lan, H., Lv, Y., Jin, J., et al. (2020). Acoustical observation with multiple wave gliders for internet of underwater things. IEEE Internet of Things Journal, 8(4), 2814–2825.

    Article  Google Scholar 

  25. Ojha, T., Misra, S., & Obaidat, M. S. (2020). SEAL: Self-adaptive AUV-based localization for sparsely deployed Underwater Sensor Networks. Computer Communications, 154, 204–215.

    Article  Google Scholar 

  26. Su, R., Zhang, D., Li, C., et al. (2019). Localization and data collection in auv-aided underwater sensor networks: Challenges and opportunities. IEEE Network, 33(6), 86–93.

    Article  Google Scholar 

  27. Ramezani, H., Jamali-Rad, H., & Leus, G. (2012). Target localization and tracking for an isogradient sound speed profile. IEEE Transactions on Signal Processing, 61(6), 1434–1446.

    Article  MathSciNet  MATH  Google Scholar 

  28. Yao, Y. B., Zeng, R., & Yi, Z. Q. (2012). Bounding box based distributed search localization algorithm for WSN. Journal on Communications, 33(z2), 135–140.

    Google Scholar 

Download references

Acknowledgement

This work was supported in part by the Hebei Province Graduate Innovation Funding Project (No. CXZZBS2022140).

Author information

Authors and Affiliations

  1. School of Information Science and Engineering, The Key Laboratory for Special Fiber and Fiber Sensor of Hebei Province, Yanshan University, Qinhuangdao, 066004, People’s Republic of China

    Yuhua Qin, Yanhong Sun, Haoran Liu, Rongrong Yin & Liyue Zhang

  2. School of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, People’s Republic of China

    Mingru Dong

Authors
  1. Yuhua Qin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yanhong Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Haoran Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Rongrong Yin
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Mingru Dong
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Liyue Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Haoran Liu.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Qin, Y., Sun, Y., Liu, H. et al. Joint time synchronization and localization of underwater mobile node. Wireless Netw 29, 3737–3746 (2023). https://doi.org/10.1007/s11276-023-03441-2

Download citation

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11276-023-03441-2

Keywords

Search

Navigation