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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2511.06998 |
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| _version_ | 1866909896051523584 |
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| author | Huang, Jin Wang, Yingqiang Chen, Ying |
| author_facet | Huang, Jin Wang, Yingqiang Chen, Ying |
| contents | Precise underwater positioning remains a fundamental challenge for underwater robotics since global navigation satellite system (GNSS) signals cannot penetrate the sea surface. This paper presents Raspi$^2$USBL, an open-source, Raspberry Pi-based passive inverted ultra-short baseline (piUSBL) positioning system designed to provide a low-cost and accessible solution for underwater robotic research. The system comprises a passive acoustic receiver and an active beacon. The receiver adopts a modular hardware architecture that integrates a hydrophone array, a multichannel preamplifier, an oven-controlled crystal oscillator (OCXO), a Raspberry Pi 5, and an MCC-series data acquisition (DAQ) board. Apart from the Pi 5, OCXO, and MCC board, the beacon comprises an impedance-matching network, a power amplifier, and a transmitting transducer. An open-source C++ software framework provides high-precision clock synchronization and triggering for one-way travel-time (OWTT) messaging, while performing real-time signal processing, including matched filtering, array beamforming, and adaptive gain control, to estimate the time of flight (TOF) and direction of arrival (DOA) of received signals. The Raspi$^2$USBL system was experimentally validated in an anechoic tank, freshwater lake, and open-sea trials. Results demonstrate a slant-range accuracy better than 0.1%, a bearing accuracy within 0.1$^\circ$, and stable performance over operational distances up to 1.3 km. These findings confirm that low-cost, reproducible hardware can deliver research-grade underwater positioning accuracy. By releasing both the hardware and software as open-source, Raspi$^2$USBL provides a unified reference platform that lowers the entry barrier for underwater robotics laboratories, fosters reproducibility, and promotes collaborative innovation in underwater acoustic navigation and swarm robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_06998 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics Huang, Jin Wang, Yingqiang Chen, Ying Robotics Precise underwater positioning remains a fundamental challenge for underwater robotics since global navigation satellite system (GNSS) signals cannot penetrate the sea surface. This paper presents Raspi$^2$USBL, an open-source, Raspberry Pi-based passive inverted ultra-short baseline (piUSBL) positioning system designed to provide a low-cost and accessible solution for underwater robotic research. The system comprises a passive acoustic receiver and an active beacon. The receiver adopts a modular hardware architecture that integrates a hydrophone array, a multichannel preamplifier, an oven-controlled crystal oscillator (OCXO), a Raspberry Pi 5, and an MCC-series data acquisition (DAQ) board. Apart from the Pi 5, OCXO, and MCC board, the beacon comprises an impedance-matching network, a power amplifier, and a transmitting transducer. An open-source C++ software framework provides high-precision clock synchronization and triggering for one-way travel-time (OWTT) messaging, while performing real-time signal processing, including matched filtering, array beamforming, and adaptive gain control, to estimate the time of flight (TOF) and direction of arrival (DOA) of received signals. The Raspi$^2$USBL system was experimentally validated in an anechoic tank, freshwater lake, and open-sea trials. Results demonstrate a slant-range accuracy better than 0.1%, a bearing accuracy within 0.1$^\circ$, and stable performance over operational distances up to 1.3 km. These findings confirm that low-cost, reproducible hardware can deliver research-grade underwater positioning accuracy. By releasing both the hardware and software as open-source, Raspi$^2$USBL provides a unified reference platform that lowers the entry barrier for underwater robotics laboratories, fosters reproducibility, and promotes collaborative innovation in underwater acoustic navigation and swarm robotics. |
| title | Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.06998 |