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An installation angle error calibration method in an Ultra-Short Baseline system based on a dual transponder

Liu Baoheng, Zhang Xiaochuan, Jia Shuyang, Zou Sichen, Tian Deyan, Da Lianglong

Polish Maritime Research

2023

nr 2

121--129

The installation error of an acoustic transceiver array is one of the important error sources in an ultra-short baseline (USBL) system. In a USBL system with a positioning accuracy of 0.5%, an installation error angle of 1 will lead to a positioning error of 1.7% times the slant distance. In this paper, a dual transponder-based installation angle error calibration method for USBL is proposed. First, the positioning errors induced by various installation angles are deduced and analysed using the linear measurement of seafloor targets. Then, an iterative algorithm is proposed that estimates the rolling alignment error, pitching alignment error, and heading alignment error, in that order. The simulation and experienced results show that, after three iterations, the estimates of the three alignment errors can converge quickly, all of the estimates converge to within 0.001 and the estimated values are very close to the true values. The horizontal positioning error caused by the installation error angle can be reduced by nearly 75%. The method has good effectiveness and robustness, and can greatly improve the positioning accuracy of the USBL system.

Principles of computing and displaying the results of detection by underwater systems as part of sound velocity measurements

Raganowicz A., Kilian L., Salamon R.

Hydroacoustics

2003

Vol. 6

267--274

The paper presents the upgraded system for measurements of sound velocity profiles and for computing and imaging the terms of detection in different hydrolocation and hydrocommunication systems. Three types of computations made by the system's processors are discussed. The most interesting task is to link the propagation routes and ray density with the parameters of the hydroacoustic system to obtain the desired display of the conditions to detect the signal from the background noises. Presented discussion of methodology of determining detection conditions using different forms of range equation gives a more detailed description of this task. In the next part of this paper the software's display function and necessary settings are specified and discussed. In the end two examples of computed detection conditions images (for active and passive sonar) are shown.