Ultra Short Baseline (USBL) Calibration for Positioning of Underwater Objects

Abstract

In general, surface positioning using a global satellite navigation system (GNSS). Many satellites transmit radio signals to the surface of the earth and it was detected by receiver sensors into a function of position and time. Radio waves really bad when spreading in water. So, the underwater positioning uses acoustic wave. One type of underwater positioning is USBL. USBL is a positioning system based on measuring the distance and angle. Based on distance and angle, the position of the target in cartesian coordinates can be calculated. In practice, the effect of ship movement is one of the factors that determine the accuracy of the USBL system. Ship movements like a pitch, roll, and orientation that are not defined by the receiver could changes the position of the target in X, Y and Z coordinates. USBL calibration is performed to detect an error angle. USBL calibration is done by two methods. In USBL calibration Single Position obtained orientation correction value is 1.13 ̊ and a scale factor is 0.99025. For USBL Quadrant calibration, pitch correction values is -1.05, Roll -0.02 ̊, Orientation 6.82 ̊ and scale factor 0.9934 are obtained. The quadrant calibration results deccrease the level of error position to 0.276 - 0.289m at a depth of 89m and 0.432m - 0.644m at a depth of 76m

Application of Uncrewed Surface Vessels Throughout the Life Span of Fixed and Floating Offshore Wind Farms

“…The topside system will measure relative range and direction to the beacon and compute a global position for the subsea RUS that can then be used to geolocate survey data acquired. Careful calibration procedures must be followed [76] to ensure that the orientation and physical offsets between the different components is accurately known, and are required following the mobilization of USBL equipment on the surface vessel and/or at the start of a period of survey operations and may be repeated at intervals to check for any issues. A USBL-equipped USV can provide positioning for subsea RUS independent of physical hosting and deployment, and this methodology was used by commercial operator Ocean Infinity [77] during previous searches for the lost Malaysia Airlines aircraft MH370 [56], [57] and other projects where AUV were positioned by USV with all the RUS hosted from a large crewed vessel.…”

AUV planning and calibration method considering concealment in uncertain environments

“…LBL methods apply empirical modal decomposition and maximum likelihood estimation to improve the low signal-to-noise ratio (SNR) accuracy and robustness (Yang et al, 2022). Septyanto et al (2019) compared the accuracy errors of USBL single position calibration and quadrant calibration, demonstrating that the fourquadrant method is more accurate. Unscented Kalman filters incorporate direct and indirect measures for target localization, formulating distance measures as closed-loop control (Yan et al, 2019b).…”

A Correction Method of Positioning for Deep-Sea Camera Data

“…The accurate positioning of seabed cameras is the basis for further in-depth investigation and scientific research on sulfide resources. Ultra-short baseline (USBL) has been generally employed to realize the underwater positioning of the towed detection platform [4][5][6]. Although USBL has a high positioning speed and high accuracy, it will cause different degrees of abnormal, inaccurate, and missing data due to the measurement environment, instrument installation calibration deviation, peripheral equipment measurement reliability, and other reasons, affecting the underwater positioning of deep-sea camera equipment [7].…”