Positioning sonars of JiaoLong human occupied vehicle: Basic principle and sea trial

The sonar system of JiaoLong human occupied vehicle(HOV) consists of nine kinds, sixteen sonars for communication, navigation, positioning, and detection. There is a ultra-short baseline(USBL) and a long baseline(LBL) for positioning. USBL is used to localize JiaoLong. Through it, the mothership can get HOV position in real-time. By Acoustic Communication System, HOV can get its own position every 64 seconds to help pilot to drive. LBL is a significant supplement of USBL. In addition to USBL, LBL is needed because it can provide a more accurate and independent positioning platform. The advantages of LBL are high positioning accuracy and independent to ocean depth. However, the disadvantage is that it needs to deploy 3~4 beacons to form an array, and this will cost long time and much money. JiaoLong Test Applications Voyage 2013 and 2014-2015(JiaoLong-TAV2013, TAV2014-2015) both show that the positioning sonars can satisfy its demand, and it is advanced, reliable.