Coordinates and Bearing of Submerged Sensors Using a Single Mobile Beacon (CSMB)

This paper investigates the problem of localizing submerged sensors and provides a new mechanism to determine the coordinates and bearing of those sensors using only one beacon node. In underwater wireless sensor networks (UWSN), precise coordinates of the sensors that actuate or collect data is vital, as data without the knowledge of its actual origin has limited value. Mostly, the multilateration technique is used to determine the location of the sensors with respect to three or more known beacon nodes, besidesincorporated nonlinear distance equations are solved in conventional method whereby degree-of-freedom does not guarantee a unique solution. In this study, a new method of determining the coordinates of submerged sensors with a single mobile beacon has been devised which requires no preinstalled infrastructure or reference point. Moreover, Cayley-Menger determinant and linearized trilateration are used to determine the coordinates of the nodes where none of the nodes have a priori knowledge about its location. Simulation results validate the proposed mathematical model by computing coordinates of sensor nodes with bearing information generating negligible errors