Abstract
The USBL (Ultra-Short Base Line) positioning system is widely used in underwater acoustic positioning systems due to its small size and ease of use. The traditional USBL positioning system is based on ‘slant range and azimuth’. The positioning error is an increasing function with the increase in distance and the positioning accuracy depends on the ranging accuracy of the underwater target. This method is not suitable for long-distance underwater positioning operations. This paper proposes a USBL positioning calculation model based on depth information for ‘rotating array and reusing elements’. This method does not need to measure the distance between the USBL acoustic array and target, so it can completely eliminate the influence of long-distance ranging errors in USBL positioning. The theoretical analysis and simulation experiments show that the new USBL positioning model based on ‘rotating array and reusing elements’ can completely eliminate the influence of the wavelength error and spacing error of underwater acoustic signals on the positioning accuracy of USBL. The positioning accuracy can be improved by approximately 90%, and the horizontal positioning error within a positioning distance of 1000 m is less than 1.2 m. The positioning method has high precision performance in the long distance, and provides a new idea for the engineering design of a USBL underwater positioning system.
Highlights
Due to the severe attenuation of electromagnetic waves under water, the application of high precision satellite navigation systems underwater is limited
The theoretical analysis and simulation experiments showed that the element spacing error was the main error source of the USBL positioning system
1000 m, the array element spacing of 250 mm, and regardless of other error terms, a 1 mm element spacing error can cause a horizontal positioning error of about 4 m in the USBL positioning model based on the slant range and azimuth method
Summary
Due to the severe attenuation of electromagnetic waves under water, the application of high precision satellite navigation systems underwater is limited. This method improves the positioning accuracy of USBL, and solves the problem of phase difference ambiguity This method creates new problems that with the increase of the number of acoustic array elements, a large amount of work on the USBL element spacing error calibration is needed. The main method to improve the accuracy of the USBL positioning solution is to calibrate the installation error angle [16,21,22] and the spacing error between the acoustic array elements [23]. Principle and Error Analysis of Traditional USBL Positioning System Based on Distance and
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