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Location is one of the basic information required for underwater opticalwireless sensor networks (UOWSNs) for different purposes such as relating thesensing measurements with precise sensor positions, enabling efficientgeographic routing techniques, and sustaining link connectivity between thenodes. Even though various two-dimensional UOWSNs localization methods havebeen proposed in the past, the directive nature of optical wirelesscommunications and three-dimensional (3D) deployment of sensors require todevelop 3D underwater localization methods. Additionally, the localizationaccuracy of the network strongly depends on the placement of the anchors.Therefore, we propose a robust 3D localization method for partially connectedUOWSNs which can accommodate the outliers and optimize the placement of theanchors to improve the localization accuracy. The proposed method formulatesthe problem of missing pairwise distances and outliers as an optimizationproblem which is solved through half quadratic minimization. Furthermore,analysis is provided to optimally place the anchors in the network whichimproves the localization accuracy. The problem of optimal anchor placement isformulated as a combination of Fisher information matrices for the sensor nodeswhere the condition of D-optimality is satisfied. The numerical resultsindicate that the proposed method outperforms the literature substantially inthe presence of outliers.

Outlier Detection and Optimal Anchor Placement for 3D Underwater Optical Wireless Sensor Networks Localization