Effect of node number in range based node localization technique for underwater communications network

In underwater network, it is very important to know the location of unmanned underwater vehicle (UUV). The unknown position of UUV considered as an unknown node that can be determined from the known node locations through underwater acoustic network. The known node locations considered here as fixed positioned node. The range data is measured between unknown node and known nodes. By exploiting these measured range data and combination among fixed positioned nodes on this network, it is possible to perform underwater positioning of unknown node (UUV), similar to that of the satellite-based GPS program. The aim of this paper is to determine the position of UUV in an underwater acoustic network using combination method with different number of nodes, whose locations are known, to analyze the effect of node number in position estimation.