USBL Pose Estimation using Multiple Responders

Zusammenfassung (Abstract) :

Ultra Short Baseline Systems (USBLs) to track a submerged target normally consist of the transceiver unit mounted to a vessel and usually only one responder per underwater vehicle to track. Since the system measures vertical and horizontal angles of the returning signal in conjunction with the range, the system is only capable of providing a 3D position and not the entire pose (position and orientation) of the submerged vehicle or its dynamic state, which sometimes is needed.