Underwater Localization and Tracking of Physical Systems

In this paper, we investigate the problem of localizing an underwater sensor node basedon message broadcasting from multiple surface nodes. With the time-of-arrival measurementsfrom a DSP-based multicarrier modem, each sensor node localizes itself based on the traveltime differences among multiple senders to the receiver. Using one-way message passing, such asolution can scale to accommodate a large number of nodes in a network. We consider the issuefrom not only the physical layer, but also at the node processing layer by incorporating a trackingsolution. We present simulation results as well as preliminary testing results in a swimming poolwith both stationary and moving receivers.