App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 7

Localization algorithm based on ST-TDOA using nonlinear acoustic velocity model

Jiang Sheng1
Tang Minli1
Chen Jingxuan2
Chai Qun1
1. School of big data Engineering, Kaili University, Kaili Guizhou 556011, China
2. School of Electronic and Information Engineering, Beihang University, Beijing 100000, China
DOI: 10.19734/j.issn.1001-3695.2025.12.0480

Abstract

Aiming at the localization errors of traditional underwater positioning methods caused by sound velocity variation, multipath effects, and lack of clock synchronization among the receiving nodes, a novel Synchronized-Transmission Time Difference of Arrival (ST-TDOA) positioning method is proposed for the Internet of Underwater Things (IoUT) environment. To resolve the depth-dependent acoustic velocity variations that caused by changes in salinity, temperature, and pressure of traditional TDOA methods which assume a constant sound speed and the complex localization issues arising from multipath effects, where the first received signal may include reflections rather than the direct paths. A nonlinear acoustic velocity model is constructed to adaptively adjust the sound velocity variation and effectively mitigate the impact of multipath effects for underwater positioning accuracy. Additionally, a synchronous transmission algorithm is proposed to eliminate the clock synchronization discrepancies among receiving nodes. The simulation comparison with existing methods including SFDM, JTSL, and STFDs shows that the proposed method achieves a positioning accuracy of 0.41m in a 250-meter deep underwater environment, outperforming the aforementioned three methods by 2.11 m, 1.52 m, and 0.62 m. The experimental results indicate that the proposed method significantly improves underwater positioning accuracy and robustness, confirming the effectiveness and practicality of the proposed method which achieves precise localization within IoUT systems.

Foundation Support

2025年度凯里学院校级科研项目(2025YB029)
2025年度凯里学院"十四五"学科专业平台团队一体化建设规划项目(YTH-TD20252I)
贵州省数据科学与计算智能科技创新人才团队项目(黔科合人才CXTD[2025]038)
贵州省科技计划项目(黔科合基础-ZK[2023]一般440)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.12.0480
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 7

Publish History

[2026-03-24] Accepted Paper

Cite This Article

姜生, 汤敏丽, 陈敬萱, 等. 基于非线性声速模型的ST-TDOA定位算法 [J]. 计算机应用研究, 2026, 43 (7). (2026-03-24). https://doi.org/10.19734/j.issn.1001-3695.2025.12.0480. (Jiang Sheng, Tang Minli, Chen Jingxuan, et al. Localization algorithm based on ST-TDOA using nonlinear acoustic velocity model [J]. Application Research of Computers, 2026, 43 (7). (2026-03-24). https://doi.org/10.19734/j.issn.1001-3695.2025.12.0480. )

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  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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