Track analysis and design for Ultra Short Baseline installation error calibration

The Ultra Short Baseline (USBL) positioning system calibration performance relates to its data collection track, so a proper track design must be an essential research. This paper firstly studies the calibration performance of the arc track and the line track, which are basic components of complex tracks. Then it is found that contradiction exists between the solvability of the installation angle error and no sound velocity caused error. If solvability is guaranteed, it can be analyzed that sound velocity caused errors have more influence on roll installation angle and less effect on pitch installation angle in arc tracks, while line tracks take the opposite. Therefore, a track combined with the arc and line is designed to make compensation. Simulation and field data application show that the combined track can reduce the effect of the sound velocity error to both roll and pitch installation angel. Compared with the arc track, the combined track calibration results is more robust and precise.