2023 Volume 79 Issue 22 Article ID: 22-22012
One of the challenges in underwater acoustic positioning is the existence of large errors in multipath environments. We have developed a new underwater acoustic positioning technique with signal filtering technology to eliminate unnecessary reflected waves. This technique is based on a computer calculation of the propagation time from a sound source to each receiver, and selects only the time-of-flight of the direct wave to stably and accurately measure the baseline length even in multipath environments. In this paper, we evaluated the performance of the proposed method in a mobile environment. In a large pool with multipath conditions, a boat with a sound source was moved and its position was measured in real-time. The average positioning error of the moving object was 0.12 to 0.24 (m), and the missing rate was 0 %.
