Sensor localization-based distributed target tracking filter in underwater sensor networks

This paper deals with the problem of localizing sensors based on time of arrival (ToA) method and tracking a target moving through the environment of underwater sensor networks (USNs). ToA method for localizing sensors is the most simple and intuitive algorithm applicable for USNs. 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). By using the localized underwater sensor information, distributed Kalman filter (DKF) can estimate the state of target on valid sensor platforms. Simulation results illustrate the performance of the proposed distributed tracking filters.