Abstract
Underwater acoustic positioning system (UAPS) is used to know the positions of underwater robots and underwater structures. In ultra-short baseline (USBL) acoustic positioning systems, the three-dimensional position is determined by measuring the time difference of arrival (TDOA). In this paper, we investigate the acoustic positioning system targeting multiple sound sources and propose a simultaneous multi-point measurement method using time division and code division multiplexing (TD-CDM). TD-CDM provides higher position accuracy than code division multiplexing (CDM) and has a much shorter positioning time than time division and multiplexing (TDM). The effectiveness of TD-CDM has been proven by the results of the water tank experiment and simulation.
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