Abstract

Underwater sensor networks (UWSNs) are of interest to gather data from underwater sensor nodes (SNs) and deliver information to a terrestrial access point (AP) in the uplink transmission, and transfer data from the AP to the SNs in the downlink transmission. In this paper, we investigate a triple-hop UWSN in which autonomous underwater vehicle (AUV) and unmanned aerial vehicle (UAV) relays enable end-to-end communications between the SNs and the AP. It is assumed that the SN–AUV, AUV–UAV, and UAV–AP links are deployed by underwater optical communication (UWOC), free-space optic (FSO), and radio frequency (RF) technologies, respectively. Two scenarios are proposed for the FSO uplink and downlink transmissions between the AUV and the UAV, subject to water-to-air and air-to-water interface impacts; direct transmission scenario (DTS) and retro-reflection scenario (RRS). After providing the channel models and their statistics, the UWSN's outage probability and average bit error rate (BER) are computed. Besides, a tracking procedure is proposed to set up reliable and stable AUV– UAV FSO communications. Through numerical results, it is concluded that the RSS scheme outperforms the DTS one with about 200% (32%) and 80% (17%) better outage probability (average BER) in the uplink and downlink, respectively. It is also shown that the tracking procedure provides on average 480% and 170% improvements in the network's outage probability and average BER, respectively, compared to poorly aligned FSO conditions. The results are verified by applying Monte-Carlo simulations.