Experiments with aLS-Coop-Loc cooperative combined localization and time-synchronization

Performing real world experiments with underwater communication is difficult and time-consuming. Input for evaluation of localization and time-synchronization derived from experiments is not readily available. Using real-world experiments we evaluate the performance of our cooperative combined localization and time-synchronization approach called aLS-Coop-Loc and a non-cooperative approach. We perform experiments using the SeaSTAR Proteus node and a Commercial Off-the-Shelf (COTS) node from Kongsberg Maritime at a lake and at Strindfjorden in Norway. These experiments provide realistic insight into ranging performance in real-world environments. Evaluation shows that the cooperative approach outperforms non-cooperative approaches in terms of accuracy of localization and time-synchronization. aLS-Coop-Loc provides about about 2% to 34% better position accuracy and 50% improved time-synchronization.