Underwater Wireless Sensor Network-Based Localization Method under Mixed Line-of-Sight/Non-Line-of-Sight Conditions

Source localization in underwater sensor networks (UWSNs) presents complex challenges due to sensor nodes drift caused by ocean currents, non-line-of-sight (NLOS) propagation resulting from underwater multipath effects, and environmental noise. This paper proposes a practical and innovative algebraic solution based on the time difference of arrival (TDOA) for source localization in shallow seas. The proposed solution effectively addresses the issues arising from sensor position errors and multipath effects by incorporating the sea-surface reflection non-line-of-sight (SNLOS) link and optimizing the algorithm, thereby significantly improving positioning accuracy. The core concept of the method involves utilizing the weighted least squares algorithm to obtain an initial estimate of the source position, followed by direct estimation of the bias and subsequent refinement of the solution. In contrast to traditional closed-form solutions, this method avoids the introduction of intermediate parameters and directly handles the estimated bias from the previous step. Even when only considering the line-of-sight (LOS) link, the proposed solution achieves precise localization with a minimal number of sensors. Theoretical analysis demonstrates that the solution can achieve the Cramer-Rao lower bound (CRLB) accuracy under low noise conditions, and simulation results validate the superior performance of the proposed solution.