Passive Inverted USBL (PiUSBL)

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

Research Overview

Underwater robotics experiments often require positioning capability in environments where GNSS is unavailable, yet many existing solutions are difficult to reproduce due to cost and limited openness. Raspi²USBL is an open-source, Raspberry Pi–based passive inverted ultra-short …

January 30, 2026 Read