A high-resolution pulse-Doppler underwater acoustic navigation system

A high-resolution underwater acoustic pulse-Doppler navigation system has been developed and tested at sea. The system provides continuous, highly accurate tracking of underwater and ocean-surface platforms in a fixed 50-km
²
navigation net. Three reference buoys, moored 20 m from the ocean bottom, provide the navigation net used by shipboard processing equipment. Each reference buoy contains an acoustic transponder, used to obtain the acoustic travel times from the transponder to the platform, and a continuous-tone beacon, used to obtain the Doppler shift due to platform motion. The system is capable of determining the position of a platform with respect to the reference net with an error of 2-3 m. The relative position of the platform on a fix-to-fix basis can be determined within several centimeters over short time intervals (
\approx 10
min).