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Knowledge about the geographic coordinates of underwater sensor nodes is of primary importance for many applications and protocols of under water sensor networks (UWSNs) thus making localization of sensor nodes a crucial part of underwater network design. In case of mobile underwater sensor network, location estimation becomes challenging not only due to the need for periodic tracking of nodes, but also due to network partitioning caused by the pseudo-random mobility of nodes. Our proposed technique accomplishes the task of localization in two stages: (1) relative localization of sensor nodes with respect to a reference node at regular intervals during sensing operation. (2) Offline absolute localization of sensor nodes using absolute coordinates of the reference node and relative locations estimated during stage 1. As our protocol deals with mobile underwater sensor networks that may introduce network partitioning, we also propose a partition handling routine to deal with network partitions to achieve high localization coverage. The major design goal of our work is to maximize localization coverage while keeping communication overhead minimum, thus achieving better energy efficiency. Major contributions of this paper are: (1) Two energy efficient relative localization techniques, and (2) A partition handling strategy that ensures localization of partitioned nodes.

A Two-Stage Localization Scheme with Partition Handling for Data Tagging in Underwater Acoustic Sensor Networks