Measurement of the Position and Rotation of an Underwater Construction Robot Using a Multichannel Underwater Acoustic Positioning System

To realize underwater construction projects using underwater robots, accurate and stable positioning and attitude measurement techniques are essential in shallow coastal areas, where multipath effects are dominant. In this paper, our team has developed a multipath-resistant underwater acoustic positioning system and enhanced it with multichannel capabilities, enabling the precise simultaneous measurement of multiple sound source positions. Furthermore, we demonstrated through experiments that this system can accurately measure the position and rotation angle of underwater construction machinery at a construction site in a real ocean environment.