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    Item type:Publication, Access status: without files ,
    Benchmarking acoustic underwater sensor-node localization against seafloor photogrammetry
    (IEEE, 2026-09)
    Schattenhofer, Lukas
    ;
    Brandis, Carl von
    ;
    Kwasnitschka, Tom
    ;
    Heger, Karl
    ;
    Gonzáles, Everado
    Acoustic ranging is the established approach for localizing seafloor sensor nodes and generally achieves high precision. However, performance evaluation typically relies on the same acoustic ranges and GNSS positions used during localization, making error estimates self-referential. We address this circularity by introducing a photogrammetric benchmark, georeferenced by a ship-based USBL system, that is constructed independently of the acoustic ranges and GNSS positions under evaluation. For a five-node acoustic sensor network deployed at 60m depth offshore Santorini, Greece, we build a georeferenced photo mosaic of the deployment area using a ship-towed camera sled and extract relative node positions at centimeter-scale precision. We then compare three established localization algorithms, a centralized least-squares solver and two distributed approaches based on the extended Kalman filter and belief propagation, against this reference. All algorithms achieve relative accuracy below 2 m. The centralized least-squares approach outperforms the distributed approaches by more than 1 m. This demonstrates that the benchmark is sensitive enough to evaluate the performance of different algorithms, offering a path toward noncircular evaluation of underwater localization systems.
    Publicationtype: Conference Paper
      9
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    Soft-information-based underwater tracer localization with USBL hydrophone arrays
    (IEEE, 2026-09)
    Oppermann, Peter
    ;
    Renner, Bernd-Christian
    Localization of underwater objects is required for numerous applications, including environmental monitoring, ropeless fishing, and equipment tracking. Ease of deployment and small, low-cost tracers running for years on a battery are incompatible with state-of-the-art solutions, especially in highly challenging multipath environments. We present a passive, soft-information-based localization method leveraging receiver mobility to estimate the 2D-location of a beacon signal with Angle of Arrival observations. The method is shown to be more robust than approaches that make hard decisions on time of arrival observations early on. Furthermore, we present the results in a real-world harbor environment, showing that median localization accuracy below 5m can be achieved.
    Publicationtype: Conference Paper
      4