Long Baseline (LBL) Acoustic Positioning System "A Practical Overview of Long Baseline (LBL) Acoustic Positioning System"

Abstract
Long Baseline (LBL) acoustic positioning system

A practical overview of Long Baseline (LBL) acoustic
positioning system
Acoustic (Hydroacoustic) position reference systems are used extensively
within the Dynamic Positioning (DP) community. A clear understanding of
the capabilities and limitations of these systems is required by all involved in
the procurement, engineering and operation of DP vessels. The increase in
the number of DP vessels working in close proximity and the increased
water depths are just two of the factors driving the development of acoustic
positioning systems.
There are existing commercial sources that provide acoustic positioning
systems with varying levels of capability as a Dynamic Positioning (DP)
position reference sensor (PRS). Systems are currently available to provide a
position reference to 12,000 feet of seawater (fsw) or 3,700m with an
absolute accuracy of 3-5m and a relative accuracy of <2m. Also available
from these and other sources are shorter range, higher resolution acoustic
positioning systems.
This Report discusses how these systems are configured and what
capabilities they have. A definition of conventional systems and frequency
bands is included.
The Report also discusses the Long Baseline (LBL) acoustic positioning
system in particular. A definition of Long Baseline system, method of
operation and considerations required are included.
Table of Contents
List of Figures .............................................................................................
iv
List of Tables................................................................................................ iv
List of Abbreviations.................................................................................... v
Introduction.. 1
Chapter 1
Methods of Acoustic Positioning
1.1
1.1.1
1.1.2
1.1.3
1.1.4
Chapter 2
Methods of Acoustic Positioning 3

Long baseline Systems (LBL).... 5
Short baseline Systems (SBL)... 6
Ultra Short baseline Systems (USBL)...7
Combined Acoustic Systems. 8
Basics of Deep Water Positioning Systems...10
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
The Sonar Equation 10

Source Level 11
Transmission Loss 12
Directivity Index 15
Detection Threshold 16
Noise Level.. 16
2.2
Frequency..
18
2.2.1 Accuracy of Measurement
19
2.2.2 Physical Size and Frequency 20
2.2.3 Range and Coverage Achievable.
20
2.2.4 Coveragethe Layout and Geometry of the System...21
2.2.4.1 Ultra Short baseline Systems (USBL). 21
2.2.4.2 Short baseline Systems (SBL)... 22
2.2.4.3 Long baseline Systems (LBL)... 22
2.3
Velocity of Sound.. 22
2.3.1 Temperature
23
ii
2.3.2 Pressure. 23
2.3.3 Density 24
2.3.4 Salinity.. 24
2.4
Acoustic Noise
2.4.1 Biological Noise.
2.4.2 Wind and Rain
2.4.3 Self Noise
2.4.3.1 Cavitation (Ship Noise)...................................
2.4.3.2 Flow Noise............................................................
2.4.3.3 Signal Reverberation
2.4.3.4 Multi-Path
Chapter 3
30
24
24
25
25
26
26
27
29
Long Baseline Acoustic Positioning System..
3.1 Method of Operation .. 30

3.2 Considerations for deploying a LBL Positioning System.............. 32
3.2.1 Array Planning..
32
3.2.2 Geometry Planning and Preparation 33
3.2.3 Distance Restrictions on Range.. 34
3.2.4 Mobilisation 34
3.2.5 Methods of Deployment (Installation) and Recovery 36
3.2.6 Methods of Calibration 36
3.2.6.1 Box-in Method 37
3.2.6.2 Direct Measurements of Baselines 38
3.3 Applications of Long Baseline Positioning System....................... 38
Chapter 4
Autonomous Underwater Vechile Positioning

System Design...40
4.1 Positioning Algorithm .40

4.2 Time Difference of Arrival (TDOA)... 42
4.3 Software.....42
4.4 Simulation Results..44
4.5 Experimental Results..44
4.6 Conclusions..45
iii
References ..46
Appendix A: MATLAB Code 47
List of Figures
Figure 1.1: LBL system 5
Figure 1.2: SBL system 7
Figure 1.3: USBL system. 8
Figure 1.4: Combined system (LBL & USBL) 9
Figure 2.1: Spherical Spreading ...
13
Figure 2.2: Cylinderical Spreading .. 13
Figure 2.3: Cavitation around rotating Propeller 26
Figure 2.4: Flow Noise . 27
Figure 2.5: Acoustic Reverberation (Echo) . 28
Figure 2.6: Multi-Path ...29
Figure 3.1: Method of the operation of a Long Baseline system .31
Figure 3.2: Box-in Method 37
Figure 3.3: Ship hull positioning system ..38
Figure 3.4: Side and bottom views show the ROV position. 39
Figure 4.1: Geometry used to create the range equation .. 41
Figure 4.2: Flow chart illustrating the positioning code ... 43
List of Tables
Table 1.1: Primary techniques used in acoustic positioning systems. 4
Table 1.2: Adv. & Disadv. of techniques used in positioning systems 4
Table 2.1: Sea water Absorption Values..14
Table 2.2: Fresh water Absorption Values.. 15
Table 2.1: Typical Band Frequencies .18
Table 2.2: Typical Frequencies versus Accuracy... 20
Table 2.3: Typical Frequencies versus Maximum Range. 21
Table 4.1: Simulation results of the AUV coordinates...44
Table 4.2: Experimental coordinates of four sensors....44
Table 4.3: Experimental results of the AUV coordinates......45
iv
List of Abbreviations
Term
Definition
Acoustic/DVL
Doppler velocity logs are used to

measure the speed of a vehicle over
the seabed.
Amplitude
The size or strength of the signal
Array
An alternative name for a network of

seabed units
AUV
An autonomous underwater vehicle

carrying its own positioning sensors
and
Computation.
Beacon
A colloquial term for a transponder

or other seabed unit that transmits
acoustic
ranges or data
CPU
Central processing unit
CTD
The conductivity, temperature and

depth unit is for measuring the
component elements that influence
the speed of sound in water.
dB/decibel
Unit measure of sound
DI
Directivity index
DP
Dynamic positioning
DT
Detection threshold
DVL
Doppler velocity log
GNSS
Global navigation satellite system
GPS
Global positioning system
HF
High frequency
LBL
Long baseline acoustic positioning

system
LF
Low frequency
LUSBL
Long and ultra-short baseline
MF
Medium frequency
NL
Noise level
Pinger
An acoustic beacon set to transmit at

a fixed and regular interval
ppt
Parts per thousand
RL
Reverberation level
ROV
Remotely operated vehicle
Salinity
This is
an equivalent measurement to the
conductivity value
SBL
Short baseline
Seabed unit
Acoustic device placed on the seabed

for positioning purposes
vi
SL
Source level
SNR
Signal to noise ratio
Sonar
An acronym formed from the words

SOund, NAvigation and Ranging
SSBL
Super short baseline acoustic

positioning system
SVP
Sound velocity profile
TS
Target strength
Pa
MicroPascal is a unit of pressure

energy of sound in water
USBL
Ultra-short baseline acoustic

positioning system
Vp
Velocity of propagation in water
vii

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Abstract

Long Baseline (LBL) acoustic positioning system

Methods of Acoustic Positioning

Methods of Acoustic Positioning 3

Basics of Deep Water Positioning Systems...10

The Sonar Equation 10

Long Baseline Acoustic Positioning System..

3.1 Method of Operation .. 30

Autonomous Underwater Vechile Positioning

4.1 Positioning Algorithm .40

Doppler velocity logs are used to

The size or strength of the signal

An alternative name for a network of

An autonomous underwater vehicle

A colloquial term for a transponder

Central processing unit

The conductivity, temperature and

Unit measure of sound

Doppler velocity log

Global navigation satellite system

Global positioning system

Long baseline acoustic positioning

Long and ultra-short baseline

An acoustic beacon set to transmit at

Parts per thousand

Remotely operated vehicle

Acoustic device placed on the seabed

Signal to noise ratio

An acronym formed from the words

Super short baseline acoustic

Sound velocity profile

MicroPascal is a unit of pressure

Ultra-short baseline acoustic

Velocity of propagation in water

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