Underwater Acoustic Positioning System Design for Shallow Water Depth Application

This paper describes the design and implementation of a practical underwater positioning system, which is ap-plicable for shallow water depth conditions. In this paper, two strategies are used to enhance the navigation performance. First, a low-cost acoustic-ranging-based precise navigation solution for shallow water is de-signed. Then, the outlier rejection algorithm is introduced by designing a velocity gate. The acoustic-ranging-based navigation is implemented by modifying the long base line solution. To enhance the tracking precision, the outlier rejection algorithm is introduced. The performance of the developed approach is eval-uated using experiments. The results demonstrate that precise shallow water depth navigation can be im-plemented using the suggested approaches