邢志伟, 于开洋, 王晓辉. 超短基线定位系统在ROV动力定位中应用的可行性研究[J]. 机器人, 2002, 24(6): 487-491..
XING Zhi-wei, YU Kai-yang, WANG Xiao-hui. FEASIBILITY RESEARCH ON ROV DYNAMIC POSITIONING WITH USBL. ROBOT, 2002, 24(6): 487-491..
摘要以英国Sonardyne公司的超短基线（Ultra-Short Base Line）为研究对象，研究了该系统在各种情况下的重复定位精度，以及将该系统应用于水下机器人动力定位的可能性．实验结果表明，即使存在姿态偏差，如果通过姿态传感器进行动态补偿，该系统仍能获得很好的重复定位精度，可以满足水下机器人动力定位的需要．
Abstract：The repetition positioning precision from USBL system produced by Sonardyne Co. is investigated by pool and lake experiments. The aim of the experiments is to verify whether the USBL system can be used in the process of ROV dynamic positioning. The experiments results have shown that the USBL system has given an acceptable repetition precision with gesture dynamic compensation even if the pitch and roll of the support vessel actually exist. And the USBL system can be used for ROV dynamic positioning.
