Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation

[2510.23286] Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2510.23286 (cs) [Submitted on 27 Oct 2025 ( v1 ), last revised 1 Apr 2026 (this version, v2)] Title: Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation Authors: Jin Huang , Yingqiang Wang , Haoda Li , Zichen Liu , Zhikun Wang , Ying Chen View a PDF of the paper titled Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation, by Jin Huang and 5 other authors View PDF HTML (experimental) Abstract: In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays can significantly degrade accuracy when measurement and fusion epochs are misaligned. This article introduces a tightly coupled navigation framework that integrates a passive inverted ultrashort baseline (piUSBL) acoustic positioning system, a strapdown inertial navigation system (SINS), and a depth gauge under precise time synchronization. The framework fuses piUSBL azimuth and slant range with depth measurements, avoiding poor vertical-angle observability in planar arrays. By combining synchronized timing with acoustic signal processing, the proposed method transforms delay from an unobservable error into a measurable parameter, enabling explicit quantification of both acoustic propagation and system processing delays. Field experiments demonstrate that the proposed approach reduces position RMSE by 44.02% and maximum error (MAXERR) by 40.79% compared to the uncompensated baseline while achieving further RMSE reductions of 37.66% and 35.82% in horizontal directions relative to filter-based delay compensation. The results confirm that explicit delay measurement outperforms filter-based estimation though instantaneous performance remains sensitive to acoustic signal quality, emphasizing the need for robust signal processing alongside accurate time synchronization in latency-sensitive multisensor systems. Comments: Published in IEEE Transactions on Instrumentation and Measurement. This is the author's accepted manuscript Subjects: Robotics (cs.RO) Cite as: arXiv:2510.23286 [cs.RO] (or arXiv:2510.23286v2 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2510.23286 Focus to learn more arXiv-issued DOI via DataCite Journal reference: IEEE Trans. Instrum. Meas., vol. 75, 2026, Art. no. 3676179 Related DOI : https://doi.org/10.1109/TIM.2026.3676179 Focus to learn more DOI(s) linking to related resources Submission history From: Jin Huang [ view email ] [v1] Mon, 27 Oct 2025 12:54:58 UTC (4,574 KB) [v2] Wed, 1 Apr 2026 10:26:47 UTC (4,842 KB) Full-text links: Access Paper: View a PDF of the paper titled Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation, by Jin Huang and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2025-10 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... 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