A Review and Analysis of Localization Techniques in Underwater Wireless Sensor Networks

In recent years,there has been a rapid growth in Underwater Wireless Sensor Networks(UWSNs).The focus of research in this area is now on solving the problems associated with large-scale UWSN.One of the major issues in such a network is the localization of underwater nodes.Localization is required for tracking objects and detecting the target.It is also considered tagging of data where sensed contents are not found of any use without localization.This is useless for application until the position of sensed content is confirmed.This article’s major goal is to review and analyze underwater node localization to solve the localization issues in UWSN.The present paper describes various existing localization schemes and broadly categorizes these schemes as Centralized and Distributed localization schemes underwater.Also,a detailed subdivision of these localization schemes is given.Further,these localization schemes are compared from different perspectives.The detailed analysis of these schemes in terms of certain performance metrics has been discussed in this paper.At the end,the paper addresses several future directions for potential research in improving localization problems of UWSN.

AUV-Aided Data Collection Considering Adaptive Ocean Currents for Underwater Wireless Sensor Networks

Autonomous underwater vehicle(AUV)-assisted data collection is an efficient approach to implementing smart ocean.However,the data collection in time-varying ocean currents is plagued by two critical issues:AUV yaw and sensor node movement.We propose an adaptive AUV-assisted data collection strategy for ocean currents to address these issues.First,we consider the energy consumption of an AUV in conjunction with the value of information(VoI)over the sensor nodes and formulate an optimization problem to maximize the VoI-energy ratio.The AUV yaw problem is then solved by deriving the AUV's reachable region in different ocean current environments and the optimal cruising direction to the target nodes.Finally,using the predicted VoI-energy ratio,we sequentially design a distributed path planning algorithm to select the next target node for AUV.The simulation results indicate that the proposed strategy can utilize ocean currents to aid AUV navigation,thereby reducing the AUV's energy consumption and ensuring timely data collection.

A zeroing neurodynamics‐based location method for nodes in underwater acoustic sensor network

Zeroing neurodynamics methodology,which dedicates to finding equilibrium points of equations,has been proven to be a powerful tool in the online solving of problems with considerable complexity.In this paper,a method for underwater acoustic sensor network(UASN)localisation is proposed based on zeroing neurodynamics methodology to preferably locate moving underwater nodes.A zeroing neurodynamics model specifically designed for UASN localisation is constructed with rigorous theoretical analyses of its effectiveness.The proposed zeroing neurodynamics model is compatible with some localisation algorithms,which can be utilised to eliminate error in non‐ideal situations,thus further improving its effectiveness.Finally,the effectiveness and compatibility of the proposed zeroing neurodynamics model are substantiated by examples and computer simulations.

Lifetime Prolonging Algorithms for Underwater Sensor Networks

Underwater acoustic modem technology has attained a level of maturity to support underwater acoustic sensor networks （UASNs） which are generally formed by acoustically connected sensor nodes and a surface station providing a link to an on-shore control center. While many applications require long-term monitoring of the deployment area, the batterypowered network nodes limit the lifetime of UASNs. Therefore, designing a UASN that minimizes the power consumption while maximizing lifetime becomes a very difficult task. In this paper, a method is proposed to determine the optimum number of clnstens throngh combining an application-specific protocol architecture and underwater acoustic communication model so as to reduce the energy dissipation of UASNs. Deploying more sensor nodes which work alternately is another way to prolong the lifetime of UASNs, An algorithm is presented for selecting sensor nodes and putting them into operation in each round, ensuring the monitoring to the whole given area. The present results show that the algorithm can help prolong system lifetime remarkably when it is applied to other conventional approaches for sensor networks under the condition that the sensor node density is high.

Reliable Braided Multipath Routing with Network Coding for Underwater Sensor Networks

Owing to the long propagation delay and high error rate of acoustic channels, it is very challenging to provide reliable data transfer for underwater sensor networks. Moreover, network coding is proved to be an effective coding technique for throughput and robustness of networks. In this paper, we propose a Reliable Braided Multipath Routing with Network Coding for underwater sensor networks （RBMR-NC）. Disjoint multi-path algorithm is used to build independent actual paths, as called main paths. Some braided paths on each main path are built according to the braided multi-path algorithm, which are called logic paths. When a data packet is transmitted by these nodes, the nodes can employ network coding to encode packets coming from the same group in order to further reduce relativity among these packets, and enhance the probability of successful decoding at the sink node. Braided multi-path can make the main paths to be multiplexed to reduce the probability of long paths. This paper mainly employs successful delivery rate to evaluate RBMR-NC model with theoretical analysis and simulation methods. The results indicate that the proposed RBMR-NC protocol is valuable to enhance network reliability and to reduce system redundancy.

Privacy Preserving Solution for the Asynchronous Localization of Underwater Sensor Networks

Location estimation of underwater sensor networks(USNs)has become a critical technology,due to its fundamental role in the sensing,communication and control of ocean volume.However,the asynchronous clock,security attack and mobility characteristics of underwater environment make localization much more challenging as compared with terrestrial sensor networks.This paper is concerned with a privacy-preserving asynchronous localization issue for USNs.Particularly,a hybrid network architecture that includes surface buoys,anchor nodes,active sensor nodes and ordinary sensor nodes is constructed.Then,an asynchronous localization protocol is provided,through which two privacy-preserving localization algorithms are designed to estimate the locations of active and ordinary sensor nodes.It is worth mentioning that,the proposed localization algorithms reveal disguised positions to the network,while they do not adopt any homomorphic encryption technique.More importantly,they can eliminate the effect of asynchronous clock,i.e.,clock skew and offset.The performance analyses for the privacy-preserving asynchronous localization algorithms are also presented.Finally,simulation and experiment results reveal that the proposed localization approach can avoid the leakage of position information,while the location accuracy can be significantly enhanced as compared with the other works.

A Survey on Underwater Acoustic Sensor Networks: Perspectives on Protocol Design for Signaling, MAC and Routing

Underwater acoustic sensor networks (UASNs) are often used for environmental and industrial sensing in undersea/ocean space, therefore, these networks are also named underwater wireless sensor networks (UWSNs). Underwater sensor networks are different from other sensor networks due to the acoustic channel used in their physical layer, thus we should discuss about the specific features of these underwater networks such as acoustic channel modeling and protocol design for different layers of open system interconnection (OSI) model. Each node of these networks as a sensor needs to exchange data with other nodes;however, complexity of the acoustic channel makes some challenges in practice, especially when we are designing the network protocols. Therefore based on the mentioned cases, we are going to review general issues of the design of an UASN in this paper. In this regard, we firstly describe the network architecture for a typical 3D UASN, then we review the characteristics of the acoustic channel and the corresponding challenges of it and finally, we discuss about the different layers e.g. MAC protocols, routing protocols, and signal processing for the application layer of UASNs.

Optimization of an Underwater Wireless Sensor Network Architecture with Wave Glider as a Mobile Gateway

This paper presents an original probabilistic model of a hybrid underwater wireless sensor network(UWSN),which includes a network of stationary sensors placed on the seabed and a mobile gateway.The mobile gateway is a wave glider that collects data from the underwater network segment and retransmits it to the processing center.The authors consider the joint problem of optimal localization of stationary network nodes and the corresponding model for bypassing reference nodes by a wave glider.The optimality of the network is evaluated according to the criteria of energy efficiency and reliability.The influence of various physical and technical parameters of the network on its energy efficiency and on the lifespan of sensor nodes is analyzed.The analysis is carried out for networks of various scales,depending on the localization of stationary nodes and the model of bypassing the network with a wave glider.As a model example,the simulation of the functional characteristics of the network for a given size of the water area is carried out.It is shown that in the case of a medium-sized water area,the model of“bypassing the perimeter”by a wave glider is practically feasible,energy efficient and reliable for hourly data measurements.In the case of a large water area,the cluster bypass model becomes more efficient.

Sonar Image Target Detection for Underwater Communication System Based on Deep Neural Network

Target signal acquisition and detection based on sonar images is a challenging task due to the complex underwater environment.In order to solve the problem that some semantic information in sonar images is lost and model detection performance is degraded due to the complex imaging environment,we proposed a more effective and robust target detection framework based on deep learning,which can make full use of the acoustic shadow information in the forward-looking sonar images to assist underwater target detection.Firstly,the weighted box fusion method is adopted to generate a fusion box by weighted fusion of prediction boxes with high confidence,so as to obtain accurate acoustic shadow boxes.Further,the acoustic shadow box is cut down to get the feature map containing the acoustic shadow information,and then the acoustic shadow feature map and the target information feature map are adaptively fused to make full use of the acoustic shadow feature information.In addition,we introduce a threshold processing module to improve the attention of the model to important feature information.Through the underwater sonar dataset provided by Pengcheng Laboratory,the proposed method improved the average accuracy by 3.14%at the IoU threshold of 0.7,which is better than the current traditional target detection model.

基于生成对抗网络的UWSNs恶意节点检测方法

水下无线传感器网络(Underwater Wireless Sensor Networks,UWSNs)节点通常部署于无人值守的恶劣环境中,恶意节点的存在对网络的安全构成了极大威胁。为了在缺乏节点行为证据的情况下有效检测恶意节点,提出了一种基于生成对抗网络(Generative Adversarial Network,GAN)的恶意节点检测方法。首先,构建了基于GAN的异常预测模型;其次,收集数据、链路、能量等多维信任证据,构建出训练数据集;最后,训练异常预测模型,并通过信任决策检测恶意节点。仿真结果表明,该方法可以在不需要大量信任证据的情况下有效地进行恶意节点检测,并且与同类型方法相比,所提方法具有较高的恶意节点检测率、通信成功率及较低的假阳率。

Capacity Research in Cluster-Based Underwater Wireless Sensor Networks Based on Stochastic Geometry

Underwater wireless sensor networks(UWSNs) have attracted wide attention in recent years.The capacity research on it is still in the initial stage,lacking adequate performance evaluation for network construction.This paper will focus on this subject by theoretical analysis and simulation,aiming to provide some insights for the actual UWSNs construction.According to the structure features of cluster-based UWSNs and the propagation characteristics of underwater acoustic signal,with the combination of signal to interference plus noise ratio,we define some capacity performance metrics,such as outage probability and transmission capacity.Based on the theory of stochastic geometry,a network capacity analytical model used in the cluster-based UWSNs is presented.The simulation results verify the validity of the theoretical analysis,and the cause of error between theoretical and simulation results has also been clearly explained.

A Survey of Ranging Algorithms and Localization Schemes in Underwater Acoustic Sensor Network

Underwater Acoustic Sensor Network(UASN) has attracted significant attention because of its great influence on ocean exploration and monitoring. On account of the unique characteristics of underwater environment, localization, as one of the fundamental tasks in UASNs, is a more challenging work than in terrestrial sensor networks. A survey of the ranging algorithms and the network architectures varied with different applications in UASNs is provided in this paper. Algorithms used to estimate the coordinates of the UASNs nodes are classified into two categories: rangebased and range-free. In addition, we analyze the architectures of UASNs based on different applications, and compare their performances from the aspects of communication cost, accuracy, coverage and so on. Open research issues which would affect the accuracy of localization are also discussed, including MAC protocols, sound speed and time synchronization.

Data Concurrent Transmission MAC Protocol for Application Oriented Underwater Acoustic Sensor Networks

With the increasing demand for marine exploration, underwater acoustic sensor networks (UASNs) are prone to have the characteristics of large-scale, long term monitoring, and high data traffic load. Underwater media access control (MAC) protocols, which allow multiple users to share the common medium fairly and efficiently, are essential for the performance of UASNs. However, the design of MAC protocols is confronted with the challenges of spatial unfairness, data eruption, and low energy efficiency. In this paper, we propose a novel data concurrent transmission (DCT) MAC protocol, which is able to exploit long propagation delay and conduct concurrent transmission. Specifically, we present the theoretical performance analysis of the proposed MAC protocol in detail and give an analytical solution of the success concurrent transmission probability between nodes. In addition, simulation results are provided to demonstrate that our proposed protocol is appropriate for UASNs and can significantly improve the performance in terms of network throughput and energy consumption. Finally, we give some typical future applications of UASNs and discuss the demands on MAC protocol design.

A New Method to Improve Performance of Cooperative Underwater Acoustic Wireless Sensor Networks via Frequency Controlled Transmission Based on Length of Data Links

In this paper a new method to improve performance of cooperative underwater acoustic (UWA) sensor networks will be introduced. The method is based on controlling and optimizing carrier frequencies which are used in data links between network nods. In UWA channels Pathloss and noise power spectrum density (psd) are related to carrier frequency. Therefore, unlike radio communications, in UWA Communications signal to noise ratio (SNR) is related to frequency besides propagation link length. In such channels an optimum frequency in whole frequency band and link lengths cannot be found. In Cooperative transmission, transmitter sends one copy of transmitted data packets to relay node. Then relay depending on cooperation scheme, amplifies or decodes each data packet and retransmit it to destination. Receiver uses and combines both received signals to estimate transmitted data. This paper wants to propose a new method to decrease network power consumptions by controlling and sub-optimizing transmission frequency based on link length. For this purpose, underwater channel parameters is simulated and analyzed in 1km to 10km lengths (midrange channel). Then link lengths sub categorized and in each category, optimum frequency is computed. With these sub optimum frequencies, sensors and base station can adaptively control their carrier frequencies based on link length and decrease network’s power consumptions. Finally Different Cooperative transmission schemes “Decode and Forward (DF)” and “Amplify and Forward (AF)”, are simulated in UWA wireless Sensor network with and without the new method. In receiver maximum ratio combiner (MRC) is used to combining received signals and making data estimations. Simulations show that the new method, called AFC cooperative UWA communication, can improve performance of underwater acoustic wireless sensor networks up to 40.14%.

融合多策略学习型麻雀搜索算法的UWSN覆盖优化

水下无线传感器网络(UWSN)是三维无线传感器网络的一种应用场景。为解决UWSN覆盖率低的问题,提出一种多策略学习型麻雀搜索算法(MSLSSA)。首先引入双重反冲运动策略,对麻雀个体中的发现者和加入者进行位置更新,其次引入互利学习策略进行麻雀个体中的警戒者互利信息共享,进一步提高搜索能力,增大寻优解搜索空间;然后采用改进的折射反向学习策略作为边界处理方法对越界个体进行处理。最后将该算法应用于UWSN覆盖优化,仿真实验分析表明,与五种相似算法进行比较,MSLSSA覆盖率达到96.61%,能够有效提升UWSN覆盖率,优化节点分布。

Dynamic Coverage with Wireless Sensor and Actor Networks in Underwater Environment

This paper studies the problem of dynamic coverage with wireless sensor and actor networks (WSANs) in underwater environment. Different from most existing works, the WSANs consist of two kinds of nodes, i.e., sensor nodes (SNs) which cannot move autonomously and actor nodes (ANs) which can move autonomously according to the performance requirement. The problem of how to coordinate two kinds of nodes to facilitate dynamic coverage in underwater environment is challenging due to their heterogeneous capabilities. To reduce redundancy of communication links and improve connectivity between ANs and SNs in underwater WSANs, a min-weighted rigid graph based topology optimization scheme is first developed, such that the underwater communication energy consumption can be saved. With the optimized topology, a dynamic coverage strategy is proposed to improve the coverage among SNs and ANs for underwater WSAN where underwater fluid motions are considered. Furthermore, it is proved that the network coverage area is connected by using the min-weighted rigid graph. Finally, simulation results are presented to show the effectiveness of the main results. © 2014 Chinese Association of Automation.

Cooperative Nodes Localization for Three-Dimensional Underwater Wireless Sensor Network Based on Weighted Centroid Localization Algorithm

The underwater wireless sensor network(UWSN) has the features of mobility by drifting,less beacon nodes,longer time for localization and more energy consumption than the terrestrial sensor networks,which makes it more difficult to locate the nodes in marine environment.Aiming at the characteristics of UWSN,a kind of cooperative range-free localization method based on weighted centroid localization(WCL) algorithm for three-dimensional UWSN is proposed.The algorithm assigns the cooperative weights for the beacon nodes according to the received acoustic signal strength,and uses the located unknown nodes as the new beacon nodes to locate the other unknown nodes,so a fast localization can be achieved for the whole sensor networks.Simulation results indicate this method has higher localization accuracy than the centroid localization algorithm,and it needs less beacon nodes and achieves higher rate of effective localization.

Hierarchical self-localization of underwater wireless sensor network nodes

The follow-up application of underwater wireless sensor network is influenced by accuracy of self-localization of nodes. The self-localization of nodes is discussed in this paper. First of all, nodes of underwater wireless sensor network are classified into several levels according to the accuracy of position of nodes and the levels are from the first to the fifth in accordance with accuracy of nodes from high to low respectively. Secondly, the level of anchor nodes can be known by those unknown nodes from the information given by the anchor nodes themselves, At the same time the unknown nodes are able to be located in the area controlled by the first level of anchor nodes that are as the aggregation. Then the positioning algorithm is designed correspondingly in accordance with the accuracy level of nodes. Finally, the positioning algorithm is simulated and analyzed. The result shows that the unknown nodes can be located effectively by hierarchical control.

Optimal Packet Size of Underwater Sensor Networks

Parameter optimization of nodes communication is the foundation of underwater sensor networks.The packet size is an important indicator of the impact of communication performance.As a result,the optimal packet size selection is a critical issue in improving the communication performance.This paper aims to make a model reflecting the communication characteristics as the optimization target,because underwater sensor networks have the characteristics of high time delay,high energy consumption and high bit error rate.Finally,simulation experiments and theory have demonstrated the effectiveness and timeliness of simultaneous perturbation stochastic approximation(SPSA) algorithm.

Energy-Efficient Mobile Data Collection Adopting Node Cooperation in an Underwater Acoustic Sensor Network

This paper considers an underwater acoustic sensor network with one mobile surface node to collect data from multiple underwater nodes,where the mobile destination requests retransmission from each underwater node individually employing traditional automatic-repeat-request(ARQ) protocol.We propose a practical node cooperation(NC) protocol to enhance the collection efficiency,utilizing the fact that underwater nodes can overhear the transmission of others.To reduce the source level of underwater nodes,the underwater data collection area is divided into several sub-zones,and in each sub-zone,the mobile surface node adopting the NC protocol could switch adaptively between selective relay cooperation(SRC) and dynamic network coded cooperation(DNC) .The difference of SRC and DNC lies in whether or not the selected relay node combines the local data and the data overheard from undecoded node(s) to form network coded packets in the retransmission phase.The NC protocol could also be applied across the sub-zones due to the wiretap property.In addition,we investigate the effects of different mobile collection paths,collection area division and cooperative zone design for energy saving.The numerical results showthat the proposed NC protocol can effectively save energy compared with the traditional ARQ scheme.