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An Ultra-Short Baseline Positioning Model Based on Rotating Array & Reusing Elements and Its Error Analysis

Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
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Sensors 2019, 19(20), 4373; https://doi.org/10.3390/s19204373
Received: 13 August 2019 / Revised: 27 September 2019 / Accepted: 4 October 2019 / Published: 10 October 2019
(This article belongs to the Section Sensor Networks)
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. View Full-Text
Keywords: navigation; SINS; USBL; high-precision; positioning calculation; rotating array; reusing elements; array elements spacing error elimination navigation; SINS; USBL; high-precision; positioning calculation; rotating array; reusing elements; array elements spacing error elimination
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Tong, J.; Xu, X.; Hou, L.; Li, Y.; Wang, J.; Zhang, L. An Ultra-Short Baseline Positioning Model Based on Rotating Array & Reusing Elements and Its Error Analysis. Sensors 2019, 19, 4373.

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