Localization using dual orthogonal stereo acoustic sensor method in underwater sensor networks

The dual orthogonal stereo sensor (DOSS) method uses acoustic waves to determine the distance and direction of an object in an underwater environment. A DOSS system is composed of one acoustic signal generator in the center and four acoustic signal receivers in an orthogonal stereo configuration. In this paper, we propose several algorithms with dual orthogonal stereo sensors that measure the range and angle using the time of flight. We simulate the algorithms with dual orthogonal stereo sensors for 3D localization using simultaneous localization and mapping (SLAM). Finally, we compare and analyze the results of all the simulations.