This paper innovatively proposes a method of posture estimation using beacon coordinates for the installation process of marine engineering structures, aiming to solve the problem that posture changes cannot be obtained in real-time during the installation of marine engineering structures and has a guiding role in installation docking. Taking the jacket of an underwater wellhead base plate as an example, the ultra-short baseline (USBL) positioning system is used to obtain the coordinates of the three beacons on the jacket before and after the movement, and the rotation matrix and translation vector of this process are obtained through calculation. We construct a posture estimation model, which is obtained from the coordinates of three one-to-one corresponding points as input, and a mutual conversion method of the rotation matrix and the Euler angle is given. To verify the accuracy of the posture estimation algorithm, we conducted a USBL positioning experiment in an anechoic pool and simulated the movement process by rotating and translating the USBL transceiver. Finally, the experimental data was processed, and the root mean square error of the algorithm's theoretical coordinates and the USBL measured coordinates was less than 0.1 m, which proved the effectiveness of the algorithm.
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