Abstract:

The track for ultra short baseline (USBL) acoustic sensor installation alignment calibration is designed by using the symmetric measurement to cancel estimate bias. By analyzing the influences of different angle measurement biases, symmetry and repeatability requirement that can ensure unbiased alignment estimates are obtained. Straight line tracks, round tracks and tracks combined with the former two are found to satisfy these requirements. Simulations and field trial are carried out to compare these three kinds of tracks. Comparison results show that combined tracks can provide better calibration accuracy and precision when the symmetry and repeatability requirement cannot be strictly guaranteed. Therefore, this combined track is recommended as the track for USBL alignment calibration.