TY - GEN
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
N1 - Publisher Copyright:
© 2026 IEEE.
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
UR - https://www.scopus.com/pages/publications/105047337031
U2 - 10.1109/ICCA69928.2026.11618263
DO - 10.1109/ICCA69928.2026.11618263
M3 - 会议稿件
AN - SCOPUS:105047337031
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1508
EP - 1513
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 -