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Sensors 2016, 16(9), 1491; doi:10.3390/s16091491

Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

1
Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macao, China
2
Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisboa 1049-001, Portugal
3
LAETA—Associated Laboratory for Energy, Transports and Aeronautics, IDMEC—Institute of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisboa 1049-001, Portugal
*
Author to whom correspondence should be addressed.
Academic Editor: José-Fernán Martínez
Received: 22 June 2016 / Revised: 6 September 2016 / Accepted: 6 September 2016 / Published: 14 September 2016

Abstract

This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance. View Full-Text
Keywords: underwater Ultra-Short BaseLine (USBL) system; acoustic localization; spread spectrum modulation underwater Ultra-Short BaseLine (USBL) system; acoustic localization; spread spectrum modulation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Reis, J.; Morgado, M.; Batista, P.; Oliveira, P.; Silvestre, C. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System. Sensors 2016, 16, 1491.

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