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In this paper, the authors investigate the problem of localizing an underwater sensor node based on message broadcasting from multiple surface nodes. With the time-of-arrival measurements from a DSP-based multicarrier modem, each sensor node localizes itself based on the travel time differences among multiple senders to the receiver. Using one-way message passing, such a solution can scalable accommodates a large number of nodes in a network. They present simulation results as well as preliminary testing results in a swimming pool and in a local lake.
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