Calibration method for installation error of ultra-short baseline based on quaternion

During the installation of ultra-short baseline underwater acoustic positioning system, it is difficult to ensure that the array coordinate system and the surveying ship coordinate system completely coincide, and there is a certain systematic installation error, which affects the positioning accuracy of the system, so it needs to be accurately calibrated. According to the principle of coordinate transformation, this paper proposes a calibration method of installation error based on quaternion method, and constructs a three-dimensional coordinate transformation model. The simulation results show that the proposed method has obvious convergence of the underwater target distribution after calibration, and is superior to the classical Euler angle algorithm, which significantly improves the positioning accuracy of ultra-short baseline underwater acoustic positioning system.