Location recognition method of an object using dual orthogonal stereo sensing robot

The disclosed technology provides a method to detect that the position of the object with the sensing robot for walking in the aqueous environment to a method to overcome packet delay variation with frequency offset tracker and the frequency offset tracker, a transmitter mounted to the sensing robot claim transmitting a first ultrasonic signal; The method comprising the vertical and horizontal ultrasonic antenna disposed in a state orthogonal to the sensing robot receiving a first carrier of the first ultrasonic signal transmitted by the transmitter; The method comprising sensing the robot calculates the position of the object based on the first carrier; Further comprising: the transmitter transmitting a second ultrasonic signal; The method comprising: sensing a robot in accordance with the transmission of the second ultrasonic signal to a 45-degree rotation of the ultrasonic antenna receiving a second carrier of the second ultrasonic signal; It includes; and correcting the calculated position of the object based on the second ultrasound signals. Thus providing an effect of improving the accuracy of the recognition of an object on the seabed environment.