The target searching track design of USBL bearing-only positioning

The ultra-short base line(USBL) bearing-only positioning method can locate beacons without slant-range information,which can help in the refloatation of a lost beacon.To solve the positioning error relative to the ship track,a target searching track design was discussed to make a compromise between searching efficiency and positioning precision.A two-measure-point bearing-only positioning model was established,and the special distribution of the positioning error of the model was analyzed.As a result,the high-precision positioning area was determined.Based on the analysis,the positioning error characteristics of the straight line track and the arc track were also discussed in this paper.By comparing the positioning results of the two tracks,a conclusion can be drawn that the arc track has better positioning characteristics than the straight line track,which is also proven by simulation and field experiments.Finally,considering the searching efficiency and the results above,a straight line combined with an arc track searching lost beacon scheme was carried out as a recommendation.