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Journal of Sensors
Volume 2019, Article ID 4276987, 12 pages
Review Article

A Review on Optimal Placement of Sensors for Cooperative Localization of AUVs

College of Automation, Harbin Engineering University, Harbin 150001, China

Correspondence should be addressed to Asghar A. Razzaqi; moc.liamg@iqazzar.sabba.rahgsa

Received 13 May 2019; Revised 2 July 2019; Accepted 16 July 2019; Published 30 July 2019

Academic Editor: Jaime Lloret

Copyright © 2019 Xu Bo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Self-positioning of submerged Autonomous Underwater Vehicles (AUVs) is a challenging task due to nonavailability of GPS signals. One of the most recent solutions for this is the use of surface vehicles (sensors) for cooperative localization of the underwater vehicles (targets) by measuring their relative positions. However, correct placement of the surface sensors is very critical as their geometric configuration affects their observability and hence availability of their relative positions information to the targets. In this paper, a comparative survey of sensors’ optimal formation techniques for cooperative localization of AUVs has been presented. Introduction to the basic cooperative localization techniques and background theory of optimal sensor placements have been provided. This paper can also serve as a fundamental reading material for students and researchers pursuing research on optimal sensor placement for cooperative localization.