Ameliorated joint synchronization and localization for 3D underwater sensor networks

Both time synchronization and localization are critical issues for wireless sensor networks (WNSs) especially for Underwater Sensor Networks (USNs). In this paper, we have proposed an ameliorated joint synchronization and localization (AJSL) algorithm for 3D USNs using iterative weighted least square (IWLS) estimator. This algorithm takes advantage of projection technique with measurable depth information and inherent relationship between synchronization and localization. The closed-form expression of mean square error (MSE) is also derived and facilitates performance evaluation. Numerical results suggest that the proposed joint algorithm outperforms traditional separated approaches with the same communication cost and the joint scheme with less output latency.