Performance evaluation of ToA-based sensor localization system in underwater sensor networks

Time of arrival (ToA) method is the most simple and intuitive algorithm and can be applicable for USNs. In case of ToA, the distance between two nodes is directly proportional to the time the acoustic signal takes to propagate from one sensor node to another sensor node. In this paper, ToA-based sensor localization system in USNs is proposed, which consists of ToA-based distance estimation, position computation using trilateration, and localization algorithm using recursive position estimation (RPE). For the performance evaluation of the proposed sensor localization system, various computer simulations are conducted according to the reference node's position, reference node's communication area, detecting area of sensor node, and the number of sensor node.