An acoustic navigation system

This report describes a system for underwater acoustic navigation developed, and in use, at the Woods Hole Oceanographic Institution. It includes a brief discussion of the electronic components, operation, mathematical analysis, and available computer programs. There is a series of supplementary Technical Memoranda containing more information on various aspects of the system. We believe that this kind of documentation is more flexible and better meets the needs of potential users than including all technical details in one large volume. These are not final or definitive reports; acoustic navigation capabilities will continue to evolve at W.H.O.I. for some time. Acoustic navigation provides a method of tracking a ship, and an underwater vehicle or instrument package (‘fish’), in the deep ocean. Acoustic devices attached to the ship and fish measure the length of time it takes a sound pulse to travel to acoustic transponders moored on the ocean floor. If the transponder positions and the average speed of sound are known, the ship or fish position can be found.Prepared for the Office of Naval Research under Contracts N00014-71-C0284; NR 293-008 N00014-70-C0205; NR 263-103 and the National Science Foundation/International Decade of Ocean Exploration Grant GX-36024 and the Applied Physics Laboratory of The Johns Hopkins University Contract 372111