Raspi$^2$USBL：一种基于树莓派的开源被动倒置超短基线水下机器人定位系统
Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
AI总结：
提出一种基于树莓派的低成本被动倒置超短基线定位系统，通过被动声学接收器和主动信标实现水下定位，在消声池、淡水湖和开放海域测试中达到0.1%斜距精度和0.1°方位角精度。
摘要：
精确的水下定位仍然是水下机器人领域的一个基本挑战，因为全球导航卫星系统（GNSS）信号无法穿透海面。本文介绍了Raspi$^2$USBL，一种基于树莓派的被动倒置超短基线（piUSBL）定位系统，为水下机器人研究提供了一个低成本、易获取且可复现的平台。该系统由一个被动声学接收器和一个主动信标组成。接收器集成了水听器阵列、多通道前置放大器、恒温晶振（OCXO）、树莓派5和MCC系列数据采集（DAQ）板。信标集成了匹配网络、功率放大器和发射换能器。一个开源C++框架支持单向传播时间（OWTT）消息的时钟同步和触发，同时执行匹配滤波、阵列波束成形和自适应增益控制，以估计飞行时间（TOF）和到达方向（DOA）。该系统在消声水池、淡水湖和开放海域试验中进行了验证。结果表明，斜距精度优于0.1%，方位角精度在0.1°以内，且在高达1.3公里的距离上性能稳定。这些发现表明，低成本的系统级可复现硬件能够提供研究级的水下定位精度。通过发布软件框架并提供可复现的硬件架构，Raspi$^2$USBL提供了一个参考平台，降低了水下机器人实验室的入门门槛，并促进了水下声学导航和群体机器人领域的可复现研究。
英文摘要：
Precise underwater positioning remains a fundamental challenge for underwater robotics because global navigation satellite system (GNSS) signals cannot penetrate the sea surface. This paper presents Raspi$^2$USBL, a Raspberry Pi-based passive inverted ultra-short baseline (piUSBL) positioning system that provides a low-cost, accessible, and reproducible platform for underwater robotic research. The system consists of a passive acoustic receiver and an active beacon. The receiver integrates a hydrophone array, multichannel preamplifier, oven-controlled crystal oscillator (OCXO), Raspberry Pi 5, and MCC-series data acquisition (DAQ) board. The beacon integrates a matching network, power amplifier, and transmitting transducer. An open-source C++ framework supports clock synchronization and triggering for one-way travel-time (OWTT) messaging, while performing matched filtering, array beamforming, and adaptive gain control to estimate the time of flight (TOF) and direction of arrival (DOA). The system was validated in an anechoic tank, a freshwater lake, and open-sea trials. Results demonstrate a slant-range accuracy better than 0.1%, a bearing accuracy within 0.1°, and stable performance over distances up to 1.3 km. These findings show that low-cost, system-level reproducible hardware can deliver research-grade underwater positioning accuracy. By releasing the software framework and providing a reproducible hardware architecture, Raspi$^2$USBL offers a reference platform that lowers the entry barrier for underwater robotics laboratories and promotes reproducible research in underwater acoustic navigation and swarm robotics.
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