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Open AccessArticle

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
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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
Sensors 2016, 16(9), 1491; https://doi.org/10.3390/s16091491
Received: 22 June 2016 / Revised: 6 September 2016 / Accepted: 6 September 2016 / Published: 14 September 2016
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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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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