Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts owing to the surface and deep currents. These cause uncertainty in the deployed anchor node positions and pose daunting challenges to achieve accurate location estimations. Therefore, this paper analyzes the performance of three-dimensional (3D) localization for UOWSNs and derives a closed-form expression for the Cramer Rao lower bound (CRLB) by using time of arrival (ToA) and angle of arrival (AoA) measurements under the presence of uncertainty in anchor node positions. Numerical results validate the analytical findings by comparing the localization accuracy in scenarios with and without anchor nodes position uncertainty. Results are also compared with the linear least square (LLS) method and weighted LLS (WLLS) method.

定位精度对于水下光学无线传感器网络（UOWSN）的正常运行至关重要。然而，水下定位容易受到不利的环境障碍，例如由于表面和深水流而引起的漂移。这些导致所部署的锚节点位置的不确定性，并对实现准确的位置估计提出了艰巨的挑战。因此，本文分析了UOWSN的三维（3D）定位性能，并通过使用到达时间（ToA）和到达角（AoA）测量得出了Cramer Rao下界（CRLB）的闭式表达式。锚节点位置存在不确定性。数值结果通过比较在有和没有锚节点位置不确定性的情况下的定位精度来验证分析结果。