Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA

Ruoyu Xu; Chunhui Zhao; Jinwen Hu; Yang Lyu; Yanyan Song; Yinghao Sun

doi:10.1109/ICCA69928.2026.11618263

Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA

Ruoyu Xu
, Chunhui Zhao
, Jinwen Hu
, Yang Lyu
, Yanyan Song
, Yinghao Sun

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

USBL integrated positioning systems are affected by position errors induced by the lever arm and misalignment angles between the acoustic array and attitude sensors, making installation-parameter calibration essential for accurate underwater target positioning. This paper proposes an improved adaptive triple sub-population whale optimization algorithm (ATWOA) to estimate installation parameters by minimizing positioning residuals from the installationerror model. Experiments show that, compared with GA-BP, PSO-VMD, conventional WOA, and improved UKF, ATWOA achieves lower positioning errors and smaller dispersion of estimated installation angles, demonstrating its effectiveness and reliability for USV-mounted USBL integrated positioning systems.

Original language	English
Title of host publication	2026 IEEE 20th International Conference on Control and Automation, ICCA 2026
Publisher	IEEE Computer Society
Pages	1508-1513
Number of pages	6
ISBN (Electronic)	9798331548537
DOIs	https://doi.org/10.1109/ICCA69928.2026.11618263
State	Published - 2026
Event	20th IEEE International Conference on Control and Automation, ICCA 2026 - Almaty, Kazakhstan Duration: 16 Jun 2026 → 19 Jun 2026

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	20th IEEE International Conference on Control and Automation, ICCA 2026
Country/Territory	Kazakhstan
City	Almaty
Period	16/06/26 → 19/06/26

Keywords

Installation Parameter Calibration
USBL Integrated Positioning System
USV
Ultrashort baseline
WOA algorithm

Access to Document

10.1109/ICCA69928.2026.11618263

Cite this

Xu, R., Zhao, C., Hu, J., Lyu, Y., Song, Y., & Sun, Y. (2026). Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA. In 2026 IEEE 20th International Conference on Control and Automation, ICCA 2026 (pp. 1508-1513). (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA69928.2026.11618263

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title = "Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA",

abstract = "USBL integrated positioning systems are affected by position errors induced by the lever arm and misalignment angles between the acoustic array and attitude sensors, making installation-parameter calibration essential for accurate underwater target positioning. This paper proposes an improved adaptive triple sub-population whale optimization algorithm (ATWOA) to estimate installation parameters by minimizing positioning residuals from the installationerror model. Experiments show that, compared with GA-BP, PSO-VMD, conventional WOA, and improved UKF, ATWOA achieves lower positioning errors and smaller dispersion of estimated installation angles, demonstrating its effectiveness and reliability for USV-mounted USBL integrated positioning systems.",

keywords = "Installation Parameter Calibration, USBL Integrated Positioning System, USV, Ultrashort baseline, WOA algorithm",

author = "Ruoyu Xu and Chunhui Zhao and Jinwen Hu and Yang Lyu and Yanyan Song and Yinghao Sun",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 20th IEEE International Conference on Control and Automation, ICCA 2026 ; Conference date: 16-06-2026 Through 19-06-2026",

year = "2026",

doi = "10.1109/ICCA69928.2026.11618263",

language = "英语",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "1508--1513",

booktitle = "2026 IEEE 20th International Conference on Control and Automation, ICCA 2026",

}

Xu, R, Zhao, C , Hu, J , Lyu, Y, Song, Y & Sun, Y 2026, Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA. in 2026 IEEE 20th International Conference on Control and Automation, ICCA 2026. IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 1508-1513, 20th IEEE International Conference on Control and Automation, ICCA 2026, Almaty, Kazakhstan, 16/06/26. https://doi.org/10.1109/ICCA69928.2026.11618263

Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA. / Xu, Ruoyu; Zhao, Chunhui ; Hu, Jinwen et al.
2026 IEEE 20th International Conference on Control and Automation, ICCA 2026. IEEE Computer Society, 2026. p. 1508-1513 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA

AU - Xu, Ruoyu

AU - Zhao, Chunhui

AU - Hu, Jinwen

AU - Lyu, Yang

AU - Song, Yanyan

AU - Sun, Yinghao

PY - 2026

Y1 - 2026

N2 - USBL integrated positioning systems are affected by position errors induced by the lever arm and misalignment angles between the acoustic array and attitude sensors, making installation-parameter calibration essential for accurate underwater target positioning. This paper proposes an improved adaptive triple sub-population whale optimization algorithm (ATWOA) to estimate installation parameters by minimizing positioning residuals from the installationerror model. Experiments show that, compared with GA-BP, PSO-VMD, conventional WOA, and improved UKF, ATWOA achieves lower positioning errors and smaller dispersion of estimated installation angles, demonstrating its effectiveness and reliability for USV-mounted USBL integrated positioning systems.

AB - USBL integrated positioning systems are affected by position errors induced by the lever arm and misalignment angles between the acoustic array and attitude sensors, making installation-parameter calibration essential for accurate underwater target positioning. This paper proposes an improved adaptive triple sub-population whale optimization algorithm (ATWOA) to estimate installation parameters by minimizing positioning residuals from the installationerror model. Experiments show that, compared with GA-BP, PSO-VMD, conventional WOA, and improved UKF, ATWOA achieves lower positioning errors and smaller dispersion of estimated installation angles, demonstrating its effectiveness and reliability for USV-mounted USBL integrated positioning systems.

KW - Installation Parameter Calibration

KW - USBL Integrated Positioning System

KW - USV

KW - Ultrashort baseline

KW - WOA algorithm

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DO - 10.1109/ICCA69928.2026.11618263

M3 - 会议稿件

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T3 - IEEE International Conference on Control and Automation, ICCA

SP - 1508

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BT - 2026 IEEE 20th International Conference on Control and Automation, ICCA 2026

PB - IEEE Computer Society

T2 - 20th IEEE International Conference on Control and Automation, ICCA 2026

Y2 - 16 June 2026 through 19 June 2026

ER -

Installation Error Calibration for USV-Mounted USBL Positioning Systems via Enhanced WOA

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