The precise collection of spatiotemporal data for vessels operating in deep-sea environments is essential for accurate underwater positioning and navigation. As human activities in the deep sea increase, there is a growing demand for real-time, dynamic, and high-precision localization of underwater vessels. This demand extends beyond individual underwater vessels to encompass communication between the underwater vessel, the ship, and other underwater vessels in the vicinity. Ultra-short baseline (USBL) acoustic positioning systems present a feasible solution owing to their compact dimensions, user-friendly nature, and capacity to deliver high-precision real-time tracking across extensive operational regions. These systems are essential for carrying out crucial tasks like monitoring underwater targets, collecting data, and ensuring interoperability.