{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,2]],"date-time":"2026-03-02T01:29:21Z","timestamp":1772414961327,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2016,9,14]],"date-time":"2016-09-14T00:00:00Z","timestamp":1473811200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004733","name":"University of Macau","doi-asserted-by":"publisher","award":["Project MYRG2015-00127-FST"],"award-info":[{"award-number":["Project MYRG2015-00127-FST"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["LARSyS UID\/EEA\/50009\/2013"],"award-info":[{"award-number":["LARSyS UID\/EEA\/50009\/2013"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["LAETA UID\/EMS\/50022\/2013"],"award-info":[{"award-number":["LAETA UID\/EMS\/50022\/2013"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.<\/jats:p>","DOI":"10.3390\/s16091491","type":"journal-article","created":{"date-parts":[[2016,9,14]],"date-time":"2016-09-14T10:45:00Z","timestamp":1473849900000},"page":"1491","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":47,"title":["Design and Experimental Validation of a USBL Underwater Acoustic Positioning System"],"prefix":"10.3390","volume":"16","author":[{"given":"Joel","family":"Reis","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macao, China"},{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"}]},{"given":"Marco","family":"Morgado","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"}]},{"given":"Pedro","family":"Batista","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5799-390X","authenticated-orcid":false,"given":"Paulo","family":"Oliveira","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"},{"name":"LAETA\u2014Associated Laboratory for Energy, Transports and Aeronautics, IDMEC\u2014Institute of Mechanical Engineering, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"}]},{"given":"Carlos","family":"Silvestre","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macao, China"},{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa 1049-001, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2016,9,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1109\/48.820733","article-title":"The state of the art in underwater acoustic telemetry","volume":"25","author":"Kilfoyle","year":"2000","journal-title":"IEEE J. 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