Localization Algorithm for 3-D Underwater Wireless Sensor Networks with Surface-deployed Anchors

Due to technical limitations, mostly the anchor nodes can only be deployed at the ocean surface in underwater wireless sensor networks.This is a challenge to multi hop underwater localization.In this paper, we proposed a top-down layer by layer iterated scheme, and used depth information, which is easy accessed in underwater environment, to remedy the anisotropy caused by surfaced anchors.