https://www.kongsbergmaritime.com/news-and-events/news-archive/2014/kongsberg-maritime-launches-new-compact-portable-acoustic-positioning-system/
Kongsberg Maritime launches new compact, portable acoustic positioning system - Kongsberg Maritime
We expand our acoustic positioning product portfolio, which includes the established HiPAP system, with the launch of μPAP (microPAP)
acoustic positioning systemkongsberg maritimelaunchesnewcompact
https://isr.tecnico.ulisboa.pt/publications/design-and-experimental-validation-of-a-usbl-underwater-acoustic-positioning-system/
Design and Experimental Validation of a USBL Underwater Acoustic Positioning System – Institute For...
acoustic positioning systemdesignexperimentalvalidationusbl