A network location method considering sound ray bending

The potential for detecting marine environments has substantially increased for the reason of underwater sensor networks. Node location is a fundamental and crucial duty in underwater acoustic network applications, and information on node position is the assurance that various underwater activities will be completed. The positioning results' accuracy will decrease because the influence of the uneven underwater medium is not taken into account by the majority of current underwater location models. This article suggests a network localization approach that takes sound ray bending into account. To increase positioning precision, this technique builds a nonlinear state space model using the effective sound velocimeter. The unscented Kalman (UKF) method is utilized to determine the location of underwater objects under the effect of the underwater medium’s inhomogeneity.