Estimation of Ocean Current Using Dynamic Underwater Acoustic Sensor Network Composed of Multiple AUVs

Ocean data observation is one of the key problems in the application of underwater acoustic sensor networks. However, the traditional observation network has limitations such as a limited observation area and complex deployment in the marine environment. To address the issue of limited observation coverage, a mobile node consisting of an underwater vehicle and an underwater acoustic sensor is proposed for collaborative monitoring of the target area. To estimate the ocean current field, a Kalman recursive algorithm is presented that gradually converges over time by incorporating the characteristics of ocean current evolution. In addition, the navigation status of dynamic nodes is analyzed. Finally, simulation and experiment results verify the effectiveness of the algorithm.