Localisation is a crucial part of underwater monitoring missions. European H2020 project “subCULTron” developed a hybrid underwater sensor network with static underwater sensors capable of relocating during mission execution. The relocation and deployment is done with the aid of autonomous surface vehicles also acting as reference anchors used for underwater localisation. The motivation of this paper is determining the precision of localisation in the area of deployment. In this paper, a method of modelling localisation precision for a projection-based TDoA localisation algorithm was developed. Different spatial configurations of reference anchors can greatly impact the quality of localisation. This paper focuses on determining the quality of localisation for a given spatial configuration. Sensitivity analysis to the error in timing measurements was conducted. Simulation results are compared with results of sensitivity analysis. Finally, sensitivity analysis was tested using experimental results gathered in field trials.Index Terms— localisation, localisation precision, Underwater Acoustic Sensor Network, UASN, Time Difference of Arrival, TDoA, marine robotics, multi-robot systems.
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