Research on the Initial Orientation Technology of the View Axis for Underwater Laser Communication Dynamic Platforms Based on Coordinate Transformation Matrix Positioning Model

To address the challenge of directly applying space laser communication systems to dynamic underwater environments, this paper integrates coordinate transformation matrices with underwater positioning systems, proposing an ultra-short baseline (USBL) system combined with a coordinate transformation-based underwater positioning model. The model is designed to effectively compensate for underwater dynamic disturbances, enhance the pointing accuracy of the system, and achieve stable tracking between underwater platforms. Simulation results demonstrate that the proposed model can enhance system tracking accuracy to 130.31 μrad (an improvement of 32.24%). Through underwater experiments, the results demonstrate that the underwater positioning model enables the system to achieve a pointing accuracy of 2.82 mrad (an improvement of 39.87%) and a tracking accuracy of 181.70 μrad (an improvement of 31.46%). Additionally, it can achieve underwater communication at 50 m with a data rate of 10 Mbps, providing a reference for future research on dynamic underwater laser communication.