Handbook of mathematics (3rd ed.)
Handbook of mathematics (3rd ed.)
A design method and coordinate determination algorithm for multi-element USBL systems
ICS'09 Proceedings of the 13th WSEAS international conference on Systems
An approach for design of multi-element USBL systems
WSEAS TRANSACTIONS on SYSTEMS
A design method for USBL systems with skew three-element arrays
CISST '11 Proceedings of the 5th WSEAS international conference on Circuits, systems, signal and telecommunications
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This paper describes coordinate determination algorithm for ultra-short baseline (USBL) acoustic systems in which the location measurement of the underwater objects is based on the determination of the distance to the object and the angle object position. The case of calculation of the Cartesian coordinates of the object in the carrier coordinate system is considered. Additional receiving bases are added to the USBL antenna to resolve the problem of the low precision coordinate determination for the case the object is found in the plane of receiving bases. The designed algorithm allows the system to take into account the occasional inclination of the USBL antenna in the instant of measurement of the time delays. The space orientation of the antenna is controlled by measurement of the pitch and roll angles. The algorithm utilizes the multiple rotations of basic receiving coordinate systems around mutual orthogonal horizontal and vertical axis.