Influence of temperature and salinity on all-terminal reliability for multi-AUV cooperative systems

This study will focus on the following environmental factors which influence all-terminal reliability of Multiple Autonomous Underwater Vehicle System (MAUVS or multi-AUV cooperative system): temperature and salinity. First, the marine environment factors and the following transmission losses will be considered: emanation, attenuation, surface reflection, and seabed. Bit Error Rate (BER) of communication is chosen as the communication link reliability evaluation index. Then the reliability of the communication link can be deduced. Second, a formula to calculate the all-terminal reliability when the reliability of communication links is different is proposed according to the all-terminal reliability formula under the condition of the same reliability of communication links. Third, the influence mechanism of environmental factors is put forward. An example is used to show how the method is operated with different topologies. It can be seen from the obtained trends that the all-terminal reliability of multi-AUV cooperative system increases with the increase of temperature and decreases with the increase of salinity.