Abstract

Underwater positioning plays a key role in many underwater operations. This paper presents the design, implementation, and evaluation of UWBeacon, a centimeter-level visible light-based underwater positioning system. UWBeacon consists of LED beacons as the light signal transmitter and a camera-based receiver as the target. To address unique challenges in underwater environment such as limited visibility and strong ambient interference, we exploit a novel design that utilizes polarized lights of different colors with different polarization angles for background subtraction. UWBeacon is implemented with commercial-off-the-shelf LEDs and cameras. Comprehensive experiments conducted in various real underwater environments show that UWBeacon can achieve a mean positioning error below 6 cm and an orientation error below 1.5° at a distance of 10 meters.