Study of Underwater Positioning Based on Short Baseline Sonar System

The paper is aiming at improving the positioning ability of underwater robots. Underwater positioning can help underwater robots gain better control performance. Having studied the positioning principles of short baseline positioning systems, this paper analyzed the model of traditional short baseline (SBL) system and studied ingredients that affect measuring accuracy of short baseline system. Then, a modified method to enhance the precision of short baseline system was educed. Finally, the validity of the modified short baseline positioning system was verified through experiments, which provides as a practical method to sub-mini underwater robot for positioning.