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“…In the present article, an ultra-short baseline (USBL) combined location method based on three four-element stereo arrays is proposed. …”
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“…Furthermore, we propose an ultra-short baseline (USBL) acoustic cooperative location scheme with an orthogonal array, which is based on underwater communication with sonar. …”
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“…project, based on the combination of raw measurements from a short baseline (SBL) array and an inverted ultrashort baseline (iUSBL). An extended Kalman filter (EKF), fusing IMU raw measurements, pressure observations, SBL ranges, and USBL directional angles, estimates the localization of an underwater mining vehicle in 6DOF. …”
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“…The Autonomous Underwater Vehicle (AUV) is usually equipped with multiple sensors, such as an inertial navigation system (INS), ultra-short baseline system (USBL), and Doppler velocity log (DVL), to achieve autonomous navigation. …”
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“…Next, the article covers the determination of position coordinates on the basis of simulated parameters, using EKF and DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy. …”
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“…The error of the USBL in underwater positioning is mainly caused by a ranging error due to ray tracing, a phase difference error of the USBL, and acoustic noise in the underwater communication. …”
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“…However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler velocity log (DVL) integrated navigation in the deep-sea. …”
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“…Then, a grid SINS/DVL/USBL integrated algorithm is proposed to fuse the information of these sensors with a modified Kalman filter (MKF) dealing with the sparse USBL output. …”
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“…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. …”
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“…In our work, we propose a USBL positioning system with Kalman filtering to improve the positioning accuracy. …”
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“…To ensure the integrity of the coordination control of the integrated platform, a study on accurate measurement system of the relative position between the USV and the UUV by using the GPS and the ultrashort baseline (USBL) device was performed. Individual tests were conducted to verify the performance of USBL and AHRS, which provide the position and heading data of UUV among the sensors mounted on the actual platform, and the effectiveness of the obtained sensor data is presented. …”
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“…In the dataset, continuous strings of time-series sensor data were obtained by Miniature Autonomous Plume Recorders (MAPR) and an Oxidation-Reduction Potential (ORP) sensor, while the underwater position data was derived using Ultra Short Base Line (USBL) navigation. In this contribution, general characteristics of the data are summarized and showed here. …”
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“…This article tackles acoustic sensor placement optimization in irregular and constrained 3D surfaces, for inverted ultra-short baseline (USBL) approaches, to improve localization accuracy. …”
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“…Every robot, except for the leader, can measure the relative position and the ID of its neighboring robots by utilizing proximity sensors such as Ultra-Short BaseLine acoustic positioning (USBL) sensors. Under the proposed flocking controls, multiple robots flock inside a 3D virtual sphere while preserving communication connectivity with the leader. …”
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“…In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. …”
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“…Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. …”
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“…However, when using ultra-short baseline (USBL), outliers and slow localization updating rates could possibly cause localization errors. …”
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“…The number and proportion of patients with no congestion (0–5 USBLs), mild congestion (6–15 USBLs), and moderate congestion (16–30 USBLs) were as follows: 101 (64.7%), 49 (31.4%), and 6 (3.8%), respectively. …”
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