PhD Presentation: Acoustic localisation of underwater sensors using cooperative unmanned marine vessels
Underwater monitoring is a popular research topic whose focus is moving towards using low-cost underwater acoustic sensor networks (UASNs) for accomplishing tasks such as oceanographic data collection and underwater event detection. Underwater localisation plays a crucial role in georeferencing collected data. Commonly, localisation systems for UASNs use fixed infrastructure for aided localisation. The approach proposed here utilizes ASVs as localisation anchors to reduce cost and improve mobility. A method for a priori localisation precision of time-difference of arrival (TDoA) based localisation algorithm will be used for planning the trajectory of a formation of ASVs. The goal is to achieve desired localisation precision of the whole UASN.