用树莓派搭建低成本水下定位系统，精度达0.1%以内。
Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
- 基于树莓派的被动式超短基线定位，通过声学信号测时差和波达方向
- 实测距离达1.3公里，测距精度优于0.1%，方位精度达0.1°
- 开源软硬件设计，适合水下机器人、群智导航等研究者复现
精确的水下定位仍是水下机器人面临的核心挑战，因全球导航卫星系统（GNSS）信号无法穿透海面。本文提出Raspi$^2$USBL，一种基于树莓派的被动式反向超短基线（piUSBL）定位系统，提供低成本、可复现的水下机器人研究平台。系统由被动声学接收器与主动信标组成：接收器集成水听器阵列、多通道前置放大器、温控晶振（OCXO）、树莓派5及MCC系列数据采集板；信标包含匹配网络、功率放大器和发射换能器。开源C++框架支持时钟同步与单向传播时间（OWTT）消息传输，同时实现匹配滤波、阵列波束成形与自适应增益控制，用于估计飞行时间（TOF）与波达方向（DOA）。系统在消声水池、淡水湖及近海试验中验证，结果表明斜距精度优于0.1%，方位精度小于0.1°，在长达1.3公里的距离下性能稳定。这证明低成本、可复现的系统级硬件可达到科研级水下定位精度。通过开源软件框架并提供可复现的硬件架构，Raspi$^2$USBL为水下机器人实验室提供了入门参考平台，推动水声导航与集群机器人的可复现研究。
原文摘要 · Abstract (English)
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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