A micro processing system is developed for positioning the submarine vehicles in real time

which adopts wide-band ultra-short base line（USBL）positioning method to track the target of interest through onboard sensors in the vehicles.In order to satisfy the real-time performance

a micro system based on multi-DSP is designed to receive and process signals.This system make use of three high performance TMS320C6416 chips and one FPGA chip to acquire data and solve the target position for submarine target.The trial results have indicated that the system precision of the target track in less than 1 % of slant range error

which has excellent positioning performance.