Coordinates Determination of Submerged Mobile Sensors for Non-parallel State using Cayley-Menger Determinant

In this paper the problem of localizing submerged sensors is observed and introduces a new method to ordain the coordinates of those sensors which are situated in underwater and they are mobile and only one beacon node is considered for the system. Collecting data of appropriate coordinate of the sensors in underwater wireless sensor networks (UWSN) is essential because the root contains confined value except the knowledge of real data. There is used trilateration technique to detect the submerged sensors and beacon is considered in six different positions. In this proposed model three sensors have been used. To find out the coordinates of the sensor nodes Cayley-Menger determinant is used for the proposed model. Here three mobile sensors and one beacon node that made six different volume tetrahedron shapes by making it in same volume through projection to apply Cayley-Menger determinant. Through enumerating of coordinates of sensors nodes, simulation results make out the proposed mathematical models with minimal errors.