Passive Inverted USBL (PiUSBL)

Raspi²USBL: An open-source Raspberry Pi–Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
Raspi²USBL: An …

What We Built

Accurate positioning is one of the first problems that appears in underwater robotics, because GNSS signals cannot be used below the water surface. Commercial acoustic positioning systems are useful, but they are often expensive, closed, and difficult to modify for research …

June 15, 2026 Read
Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Precise Time Delay …

Research Overview

Time misalignment between acoustic positioning systems and inertial navigation sensors is a critical yet often underappreciated source of error in underwater integrated navigation. This work proposes a tightly coupled SINS/piUSBL/depth gauge navigation framework that explicitly …

March 9, 2026 Read