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Method for navigating an undersea vehicle

  • US 8,380,374 B2
  • Filed: 02/07/2008
  • Issued: 02/19/2013
  • Est. Priority Date: 03/19/2007
  • Status: Active Grant
First Claim
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1. A method for navigating an undersea vehicle (12), having navigation sensors (17) for measuring and continuously outputting data of the absolute speed of the undersea vehicle, a Doppler log (14) for measuring the relative speed of the undersea vehicle in successive measuring operations, and a navigation filter (18) for calculating navigation data relating to the position, attitude and absolute vehicle speed of the undersea vehicle (12) using data from navigation sensors (17) and the measured relative speed values from the Doppler log (14), said method comprising:

  • subdividing the water area (10) through which the undersea vehicle (12) travels into regions having a finite dimension (d) at least in the vertically oriented z axis of a Cartesian coordinate system (11);

    determining currents in the water area inside the regions and storing determined currents as region-specific currents (1s), at least during the submerging and/or surfacing phase of the undersea vehicle (12), wherein said region specific currents (1s) are determined from the relative vehicle speeds (wmn) measured by the Doppler log (14) in successive measuring operations and the absolute vehicle speeds (vF(tn)) continuously output by the navigation filter (17);

    inputting said stored region-specific currents (ls) to the navigation filter (18) dependent upon the region through which the undersea vehicle (12) is respectively instantaneously traveling; and

    calculating said navigation data.

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