Implementing Short Baseline Acoustic Positioning System for Small-Sized Remotely Operated Vehicle

摘要

In this study, a short baseline (SBL) acoustic positioning system has been implemented for a small-sized remotely operated vehicle (ROV). The SBL system is capable of three-dimensional localization in real-time when the ROV is operating in underwater environments. The SBL system is composed of four fixed receivers underneath the water surface, a moving source (pinger) attached to the small-sized ROV, and a real-time acoustic signal processor specially implemented with an NI data acquisition board and LabView. The performance verification tests have been carried out in a model basin with a size of 3 m×3 m×1.7 m and in a coastal area of Jeju Island, Korea. The result has shown that the SBL system could be applied effectively to dynamic positioning for the small-sized ROV in underwater environments.