{"id":"https://openalex.org/W2895328857","doi":"https://doi.org/10.1109/twc.2018.2875432","title":"Underwater Anchor-AUV Localization Geometries With an Isogradient Sound Speed Profile: A CRLB-Based Optimality Analysis","display_name":"Underwater Anchor-AUV Localization Geometries With an Isogradient Sound Speed Profile: A CRLB-Based Optimality Analysis","publication_year":2018,"publication_date":"2018-10-18","ids":{"openalex":"https://openalex.org/W2895328857","doi":"https://doi.org/10.1109/twc.2018.2875432","mag":"2895328857"},"language":"en","primary_location":{"id":"doi:10.1109/twc.2018.2875432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2018.2875432","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100351215","display_name":"Yixin Zhang","orcid":"https://orcid.org/0000-0003-1721-1069"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]},{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixin Zhang","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210138186","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101817161","display_name":"Yuzhou Li","orcid":"https://orcid.org/0000-0002-1322-5319"},"institutions":[{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhou Li","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210138186","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433665","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0003-0132-3365"},"institutions":[{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210138186","https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100678341","display_name":"Tao Jiang","orcid":"https://orcid.org/0000-0002-8482-1046"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]},{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Jiang","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, School of Electronics Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210138186","https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100351215"],"corresponding_institution_ids":["https://openalex.org/I4210138186","https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":5.0949,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.95382095,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"17","issue":"12","first_page":"8228","last_page":"8238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7085006237030029},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.7059796452522278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6399500966072083},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5051692128181458},{"id":"https://openalex.org/keywords/speed-of-sound","display_name":"Speed of sound","score":0.425005704164505},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.42028379440307617},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4161810874938965},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3613649904727936},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.24127161502838135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23555201292037964},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19850382208824158},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16502267122268677},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.13543039560317993},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11100763082504272}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7085006237030029},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.7059796452522278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6399500966072083},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5051692128181458},{"id":"https://openalex.org/C200351514","wikidata":"https://www.wikidata.org/wiki/Q124003","display_name":"Speed of sound","level":2,"score":0.425005704164505},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.42028379440307617},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4161810874938965},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3613649904727936},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.24127161502838135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23555201292037964},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19850382208824158},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16502267122268677},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.13543039560317993},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11100763082504272},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/twc.2018.2875432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2018.2875432","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1129850685","display_name":null,"funder_award_id":"2016CFA009","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G2708385054","display_name":null,"funder_award_id":"61631015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7091645459","display_name":null,"funder_award_id":"61601192","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7801790965","display_name":null,"funder_award_id":"2016YXMS298","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8114187719","display_name":null,"funder_award_id":"61831013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G86993181","display_name":null,"funder_award_id":"2015ZDTD012","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W615455038","https://openalex.org/W641585802","https://openalex.org/W1205029729","https://openalex.org/W1506975760","https://openalex.org/W1595112520","https://openalex.org/W1952756181","https://openalex.org/W1969142081","https://openalex.org/W1975013860","https://openalex.org/W1999933558","https://openalex.org/W2011706048","https://openalex.org/W2012913059","https://openalex.org/W2012914124","https://openalex.org/W2016682161","https://openalex.org/W2017125318","https://openalex.org/W2020439254","https://openalex.org/W2028526813","https://openalex.org/W2072734994","https://openalex.org/W2082882546","https://openalex.org/W2096478029","https://openalex.org/W2101823128","https://openalex.org/W2104264645","https://openalex.org/W2105738738","https://openalex.org/W2118995008","https://openalex.org/W2123509738","https://openalex.org/W2146446044","https://openalex.org/W2169564711","https://openalex.org/W2170984917","https://openalex.org/W2289597116","https://openalex.org/W2342766566","https://openalex.org/W2343915965","https://openalex.org/W2413778895","https://openalex.org/W2486454733","https://openalex.org/W2486522403","https://openalex.org/W2517483924","https://openalex.org/W2563641627","https://openalex.org/W2564255337","https://openalex.org/W2578329429","https://openalex.org/W2588546612","https://openalex.org/W2606411295","https://openalex.org/W2763324425","https://openalex.org/W2774514226","https://openalex.org/W2783860494","https://openalex.org/W2964159855","https://openalex.org/W3102161466","https://openalex.org/W4244274713","https://openalex.org/W6731378987"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1479746946","https://openalex.org/W2143803213","https://openalex.org/W2055757274","https://openalex.org/W2511739151","https://openalex.org/W2155014562","https://openalex.org/W2134404114","https://openalex.org/W1964936841","https://openalex.org/W2026659681","https://openalex.org/W2185708237"],"abstract_inverted_index":{"Existing":[0],"works":[1],"have":[2],"explored":[3],"anchor":[4,48],"deployment":[5,49,217],"for":[6],"autonomous":[7],"underwater":[8,19,27,59,74],"vehicles":[9],"(AUVs)":[10],"localization":[11,80,185,222],"under":[12,224],"the":[13,26,55,66,77,90,98,118,121,125,133,154,190,212,215,225],"assumption":[14],"that":[15,25,116,160,182,205],"sound":[16,60,107],"propagates":[17],"straightly":[18],"at":[20,34],"a":[21,46,71,104,168],"constant":[22],"speed.":[23],"Considering":[24],"acoustic":[28],"waves":[29],"propagate":[30],"along":[31],"bent":[32],"curves":[33],"varying":[35],"speeds":[36],"in":[37,70,219],"practice,":[38],"it":[39],"becomes":[40],"much":[41],"more":[42,169],"challenging":[43],"to":[44,96,124,130,145,188],"determine":[45],"proper":[47],"configuration.":[50],"In":[51],"this":[52,84,161],"paper,":[53],"taking":[54],"practical":[56],"variability":[57],"of":[58,79,93,120,221],"speed":[61,108],"into":[62,167],"account,":[63],"we":[64,86,157,176],"investigate":[65],"anchor-AUV":[67,134,180],"geometry":[68,181],"problem":[69,115,162],"3-D":[72],"time-of-flight-based":[73],"scenario":[75],"from":[76,153],"perspective":[78],"accuracy.":[81],"To":[82],"address":[83],"problem,":[85],"first":[87],"rigorously":[88],"derive":[89],"Jacobian":[91],"matrix":[92],"measurement":[94],"errors":[95],"quantify":[97],"Cramer\u2013Rao":[99],"lower":[100],"bound":[101],"(CRLB)":[102],"with":[103],"widely-adopted":[105],"isogradient":[106],"profile.":[109],"We":[110],"then":[111],"formulate":[112],"an":[113,178],"optimization":[114,172],"minimizes":[117],"trace":[119],"CRLB":[122],"subject":[123],"angle":[126],"and":[127,139,141,203,214],"range":[128],"constraints":[129],"figure":[131],"out":[132],"geometry,":[135],"which":[136],"is":[137],"multivariate":[138],"nonlinear,":[140],"thus":[142],"generally":[143],"hard":[144],"handle.":[146],"For":[147],"mathematical":[148],"tractability,":[149],"by":[150],"adopting":[151],"tools":[152],"estimation":[155],"theory,":[156],"interestingly":[158],"find":[159],"can":[163],"be":[164],"equivalently":[165],"transformed":[166],"explicit":[170],"univariate":[171],"problem.":[173],"By":[174],"this,":[175],"obtain":[177],"easy-to-implement":[179],"yields":[183],"satisfactory":[184],"performance,":[186],"referred":[187],"as":[189],"uniform":[191],"sea-surface":[192],"circumference":[193],"(USC)":[194],"deployment.":[195],"Extensive":[196],"simulation":[197],"results":[198],"validate":[199],"our":[200,206],"theoretical":[201],"analysis":[202],"show":[204],"proposed":[207],"USC":[208],"scheme":[209],"outperforms":[210],"both":[211],"cube":[213],"random":[216],"schemes":[218],"terms":[220],"accuracy":[223],"same":[226],"parameter":[227],"settings.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
