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