The Long Range Ultra Short Baseline (LR-USBL) system is an advanced underwater positioning technology designed to track and communicate with mobile targets, such as AUVs and UUVs, at depths of up to 4 kilometers. This system enables precise stereo positioning in marine environments, making it a crucial tool for deep-sea exploration and operations. From May 20th to May 24th, 2006, the "Five-Year" 863 Program under the Marine Resources Development Technology Theme successfully conducted the first deep-sea test of the Long-Range Ultra-Short Baseline Positioning System. Developed by the South China Sea Institute in China, this groundbreaking system marked a significant milestone in domestic underwater navigation technology. The system was jointly developed by Harbin Engineering University and the State Oceanic Administration. Over nearly four years, researchers overcame numerous technical challenges, including high-precision time-measuring direction finding, advanced underwater acoustic transducer arrays, complex signal encoding, long-range acoustic communication, and digital signal processing hardware and software. The result is a system with independent intellectual property rights, demonstrating strong performance and reliability. During testing, the system proved to be stable and efficient, capable of operating at depths exceeding 3,700 meters and maintaining communication over distances of up to 8.6 kilometers. It can accurately track dynamic underwater targets with a positioning accuracy of 0.2–0.3% of the slant range, surpassing the expected performance metrics and meeting international standards. With its compact design, high precision, and ease of use, the LR-USBL system has broad applications in deep-sea resource surveys, oceanographic research, underwater construction, and marine operations. It plays a vital role in establishing a high-precision three-dimensional positioning network in China, providing essential technological support for deep-sea exploration and accurate underwater positioning tasks.

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