In this work, we built Raspi²USBL, a Raspberry Pi-based passive inverted ultrashort baseline (piUSBL) positioning system for underwater robotics. The goal is simple: make underwater acoustic positioning easier to reproduce, modify, and test in real …
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems incorporating acoustic positioning, where time delays can significantly degrade accuracy when measurement and fusion epochs are misaligned. …
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system to the navigation …
The integrated navigation system (INS), which integrates the strap-down inertial navigation system (SINS) and the Doppler velocity log (DVL), is widely used in the application of autonomous underwater vehicle (AUV) navigation and positioning. However, due to …